Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 3.92950678466, median 2.71527858855, std: 3.77765167655
Gyroscope error (imu0):        mean 426.151386957, median 406.227029576, std: 197.951246612
Accelerometer error (imu0):    mean 4.33709032603, median 3.71108400769, std: 5.58470061478

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 3.92950678466, median 2.71527858855, std: 3.77765167655
Gyroscope error (imu0) [rad/s]:     mean 0.000618916412521, median 0.000589979485013, std: 0.000287492377491
Accelerometer error (imu0) [m/s^2]: mean 0.00552021476427, median 0.0047234388013, std: 0.00710816341609

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.04512859 -0.03189994  0.99847173  0.01435356]
 [ 0.99897122 -0.00302259 -0.04524773 -0.13536444]
 [ 0.00446137  0.9994865   0.03173071 -0.15880198]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.04512859  0.99897122  0.00446137  0.1352859 ]
 [-0.03189994 -0.00302259  0.9994865   0.15876916]
 [ 0.99847173 -0.04524773  0.03173071 -0.01541766]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.03837007076282751


Gravity vector in target coords: [m/s^2]
[ 0.46078339 -9.50018297 -2.38801699]


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

cam0
-----
  Camera model: pinhole
  Focal length: [769.0698, 769.0785]
  Principal point: [631.1958, 533.0872]
  Distortion model: equidistant
  Distortion coefficients: [-0.3551, 0.1597, -0.00098645, -0.00024584]
  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: 9e-05 
    Noise density (discrete): 0.00127279220614 
    Random walk: 0.001
  Gyroscope:
    Noise density: 1.02695897673e-07
    Noise density (discrete): 1.45233931289e-06 
    Random walk: 4.5993464132e-05
  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]


[[ 0.99847173 -0.04524773  0.03173071 -0.01541766]
 [-0.03189994 -0.00302259  0.9994865   0.15876916]
 [-0.04512859 -0.99897122 -0.00446137 -0.1352859 ]
 [ 0.          0.          0.          1.        ]]