Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.4343116606516496, median 0.3943353661189307, std: 0.2520569287275741
Gyroscope error (imu0):        mean 1.1915760596653067, median 1.1353993461693777, std: 0.5360616789675762
Accelerometer error (imu0):    mean 3.911284259378515, median 3.63815978351216, std: 1.897526501343755

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.4343116606516496, median 0.3943353661189307, std: 0.2520569287275741
Gyroscope error (imu0) [rad/s]:     mean 0.0007751657911217736, median 0.000738620690868648, std: 0.0003487286204656417
Accelerometer error (imu0) [m/s^2]: mean 0.05531391245909501, median 0.0514513490792326, std: 0.02683507713162707

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.0033666   0.9999908  -0.00265986  0.18666144]
 [ 0.04384007  0.00250972  0.99903541  0.02363246]
 [ 0.99903289 -0.00347996 -0.04383122  0.01641548]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.0033666   0.04384007  0.99903289 -0.01806407]
 [ 0.9999908   0.00250972 -0.00347996 -0.18666191]
 [-0.00265986  0.99903541 -0.04383122 -0.02239366]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
-8.499644640548534e-05


Gravity vector in target coords: [m/s^2]
[-0.20816649 -9.48374087 -2.48671446]


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: 200.0
  Accelerometer:
    Noise density: 0.001 
    Noise density (discrete): 0.01414213562373095 
    Random walk: 9e-05
  Gyroscope:
    Noise density: 4.6e-05
    Noise density (discrete): 0.0006505382386916237 
    Random walk: 5.89e-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]