Calibration results =================== Normalized Residuals ---------------------------- Reprojection error (cam0): mean 0.3904213320258498, median 0.3240482928395663, std: 0.2958898338769884 Reprojection error (cam1): mean 0.4005526118183573, median 0.32422016675662485, std: 0.32188403844705743 Reprojection error (cam2): mean 0.3649986414465448, median 0.28775249653191276, std: 0.3176828003219487 Reprojection error (cam3): mean 0.38396010102346617, median 0.3212552160834866, std: 0.2972821805772663 Gyroscope error (imu0): mean 1.1747815525493182, median 0.9580739092376216, std: 2.2237093238751773 Accelerometer error (imu0): mean 1.6523342419360683, median 1.1776411781789482, std: 4.941944187287444 Residuals ---------------------------- Reprojection error (cam0) [px]: mean 0.3904213320258498, median 0.3240482928395663, std: 0.2958898338769884 Reprojection error (cam1) [px]: mean 0.4005526118183573, median 0.32422016675662485, std: 0.32188403844705743 Reprojection error (cam2) [px]: mean 0.3649986414465448, median 0.28775249653191276, std: 0.3176828003219487 Reprojection error (cam3) [px]: mean 0.38396010102346617, median 0.3212552160834866, std: 0.2972821805772663 Gyroscope error (imu0) [rad/s]: mean 0.0024762496643638806, median 0.0020194649729025735, std: 0.004687219896277334 Accelerometer error (imu0) [m/s^2]: mean 0.033610892472079504, median 0.023954942048581677, std: 0.10052636474283237 Transformation (cam0): ----------------------- T_ci: (imu0 to cam0): [[-0.99996884 -0.0078643 -0.00068864 -0.01285871] [ 0.00065789 0.0039123 -0.99999213 0.01994962] [ 0.00786693 -0.99996142 -0.003907 -0.06462243] [ 0. 0. 0. 1. ]] T_ic: (cam0 to imu0): [[-0.99996884 0.00065789 0.00786693 -0.01236305] [-0.0078643 0.0039123 -0.99996142 -0.06479911] [-0.00068864 -0.99999213 -0.003907 0.01968813] [ 0. 0. 0. 1. ]] timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) 0.002067305254468926 Transformation (cam1): ----------------------- T_ci: (imu0 to cam1): [[-0.00364304 -0.99996128 -0.00801086 -0.02639977] [-0.02309155 0.0080929 -0.9997006 0.01985565] [ 0.99972672 -0.00345697 -0.02312014 -0.06437396] [ 0. 0. 0. 1. ]] T_ic: (cam1 to imu0): [[-0.00364304 -0.02309155 0.99972672 0.06471869] [-0.99996128 0.0080929 -0.00345697 -0.02678197] [-0.00801086 -0.9997006 -0.02312014 0.01814989] [ 0. 0. 0. 1. ]] timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) 0.0020787152956688623 Transformation (cam2): ----------------------- T_ci: (imu0 to cam2): [[ 0.00251521 -0.99999572 -0.00149451 0.04797581] [-0.01161916 0.00146519 -0.99993142 0.01938085] [ 0.99992933 0.0025324 -0.01161542 -0.06518929] [ 0. 0. 0. 1. ]] T_ic: (cam2 to imu0): [[ 0.00251521 -0.01161916 0.99992933 0.06528921] [-0.99999572 0.00146519 0.0025324 0.0481123 ] [-0.00149451 -0.99993142 -0.01161542 0.01869402] [ 0. 0. 0. 1. ]] timeshift cam2 to imu0: [s] (t_imu = t_cam + shift) 0.0021025139398036176 Transformation (cam3): ----------------------- T_ci: (imu0 to cam3): [[ 0.99997495 0.00493202 -0.00507617 0.01210411] [-0.00509686 0.0041912 -0.99997823 0.01896835] [-0.00491064 0.99997905 0.00421623 -0.08458176] [ 0. 0. 0. 1. ]] T_ic: (cam3 to imu0): [[ 0.99997495 -0.00509686 -0.00491064 -0.01242248] [ 0.00493202 0.0041912 0.99997905 0.08444079] [-0.00507617 -0.99997823 0.00421623 0.019386 ] [ 0. 0. 0. 1. ]] timeshift cam3 to imu0: [s] (t_imu = t_cam + shift) 0.00209125947062786 Baselines: ---------- Baseline (cam0 to cam1): [[ 0.01151244 0.00409626 0.99992534 0.03828416] [ 0.02371562 0.9997092 -0.00436842 -0.00006551] [-0.99965246 0.02376414 0.01141195 -0.07696481] [ 0. 0. 0. 1. ]] baseline norm: 0.08596082481525437 [m] Baseline (cam1 to cam2): [[ 0.99995981 -0.00665688 0.00600603 0.07489333] [ 0.00658751 0.9999122 0.01149751 0.00044099] [-0.00608204 -0.01145748 0.99991586 -0.00075382] [ 0. 0. 0. 1. ]] baseline norm: 0.07489841929262527 [m] Baseline (cam2 to cam3): [[-0.00240927 -0.00653582 0.99997574 0.07753407] [-0.00270952 0.99997501 0.00652929 0.00014362] [-0.99999343 -0.00269372 -0.00242692 -0.03671226] [ 0. 0. 0. 1. ]] baseline norm: 0.0857866173614037 [m] Gravity vector in target coords: [m/s^2] [-9.71418934 0.02905439 -1.34242476] Calibration configuration ========================= cam0 ----- Camera model: eucm Focal length: [462.48555683, 462.18186609] Principal point: [622.3018475, 465.66416977] EUCM alpha: 0.65728235 EUCM beta: 1.07153455 Distortion model: none Distortion coefficients: [] Type: aprilgrid Tags: Rows: 8 Cols: 8 Size: 0.07 [m] Spacing 0.021 [m] cam1 ----- Camera model: eucm Focal length: [463.2774409, 462.69031723] Principal point: [636.9329051, 522.66799429] EUCM alpha: 0.65808685 EUCM beta: 1.08159999 Distortion model: none Distortion coefficients: [] Type: aprilgrid Tags: Rows: 8 Cols: 8 Size: 0.07 [m] Spacing 0.021 [m] cam2 ----- Camera model: eucm Focal length: [465.21542242, 464.72384973] Principal point: [603.96275565, 507.14015761] EUCM alpha: 0.65522747 EUCM beta: 1.08759323 Distortion model: none Distortion coefficients: [] Type: aprilgrid Tags: Rows: 8 Cols: 8 Size: 0.07 [m] Spacing 0.021 [m] cam3 ----- Camera model: eucm Focal length: [464.54049567, 464.19825685] Principal point: [637.20738204, 488.58110819] EUCM alpha: 0.66124916 EUCM beta: 1.07291218 Distortion model: none Distortion coefficients: [] Type: aprilgrid Tags: Rows: 8 Cols: 8 Size: 0.07 [m] Spacing 0.021 [m] IMU configuration ================= IMU0: ---------------------------- Model: calibrated Update rate: 800.0 Accelerometer: Noise density: 0.0007191792491358075 Noise density (discrete): 0.020341460958103158 Random walk: 7.132396233174135e-05 Gyroscope: Noise density: 7.452334120258095e-05 Noise density (discrete): 0.0021078383968409532 Random walk: 2.610749484405557e-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]