Calibration results =================== Normalized Residuals ---------------------------- Reprojection error (cam0): mean 0.3774799189431159, median 0.3251079805717117, std: 0.25607884739880543 Reprojection error (cam1): mean 0.40252860746547914, median 0.32897842764506524, std: 0.305425502364842 Reprojection error (cam2): mean 0.3620095831723109, median 0.292449103214208, std: 0.2950327547361381 Reprojection error (cam3): mean 0.3942444611055437, median 0.33192925679325425, std: 0.2966839340849391 Gyroscope error (imu0): mean 1.0960152212471594, median 0.9154810007300832, std: 1.6970768268259575 Accelerometer error (imu0): mean 1.5542104559208292, median 1.1231929765518842, std: 4.833906340371194 Residuals ---------------------------- Reprojection error (cam0) [px]: mean 0.3774799189431159, median 0.3251079805717117, std: 0.25607884739880543 Reprojection error (cam1) [px]: mean 0.40252860746547914, median 0.32897842764506524, std: 0.305425502364842 Reprojection error (cam2) [px]: mean 0.3620095831723109, median 0.292449103214208, std: 0.2950327547361381 Reprojection error (cam3) [px]: mean 0.3942444611055437, median 0.33192925679325425, std: 0.2966839340849391 Gyroscope error (imu0) [rad/s]: mean 0.0023102229668668954, median 0.0019296860049172503, std: 0.003577163697972758 Accelerometer error (imu0) [m/s^2]: mean 0.03161491130978925, median 0.022847386080945827, std: 0.09832871709778794 Transformation (cam0): ----------------------- T_ci: (imu0 to cam0): [[-0.9999793 -0.0064343 0.00005308 -0.01254777] [-0.00008034 0.0042366 -0.99999102 0.01946405] [ 0.00643402 -0.99997033 -0.00423702 -0.0641281 ] [ 0. 0. 0. 1. ]] T_ic: (cam0 to imu0): [[-0.9999793 -0.00008034 0.00643402 -0.01213335] [-0.0064343 0.0042366 -0.99997033 -0.0642894 ] [ 0.00005308 -0.99999102 -0.00423702 0.01919282] [ 0. 0. 0. 1. ]] timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) 0.0027153517330281273 Transformation (cam1): ----------------------- T_ci: (imu0 to cam1): [[-0.00478122 -0.9999511 -0.00865705 -0.02589911] [-0.02361577 0.00876764 -0.99968266 0.01930651] [ 0.99970968 -0.00457526 -0.02365653 -0.06454881] [ 0. 0. 0. 1. ]] T_ic: (cam1 to imu0): [[-0.00478122 -0.02361577 0.99970968 0.06486218] [-0.9999511 0.00876764 -0.00457526 -0.02636245] [-0.00865705 -0.99968266 -0.02365653 0.01754918] [ 0. 0. 0. 1. ]] timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) 0.002665351733028127 Transformation (cam2): ----------------------- T_ci: (imu0 to cam2): [[ 0.00163824 -0.99999659 -0.00203264 0.04821591] [-0.01191195 0.00201298 -0.99992702 0.0187627 ] [ 0.99992771 0.00166233 -0.01190861 -0.06540926] [ 0. 0. 0. 1. ]] T_ic: (cam2 to imu0): [[ 0.00163824 -0.01191195 0.99992771 0.06554904] [-0.99999659 0.00201298 0.00166233 0.0482867 ] [-0.00203264 -0.99992702 -0.01190861 0.01808041] [ 0. 0. 0. 1. ]] timeshift cam2 to imu0: [s] (t_imu = t_cam + shift) 0.002665351733028127 Transformation (cam3): ----------------------- T_ci: (imu0 to cam3): [[ 0.99997901 0.00390751 -0.00516825 0.01188229] [-0.00518609 0.00457014 -0.99997611 0.01830338] [-0.0038838 0.99998192 0.00459031 -0.08504315] [ 0. 0. 0. 1. ]] T_ic: (cam3 to imu0): [[ 0.99997901 -0.00518609 -0.0038838 -0.01211741] [ 0.00390751 0.00457014 0.99998192 0.08491154] [-0.00516825 -0.99997611 0.00459031 0.01875473] [ 0. 0. 0. 1. ]] timeshift cam3 to imu0: [s] (t_imu = t_cam + shift) 0.002665658806566145 Baselines: ---------- Baseline (cam0 to cam1): [[ 0.01121465 0.00442097 0.99992734 0.038279 ] [ 0.0235058 0.99971273 -0.00468365 -0.00015735] [-0.9996608 0.02355662 0.01110751 -0.07683852] [ 0. 0. 0. 1. ]] baseline norm: 0.08584559063244168 [m] Baseline (cam1 to cam2): [[ 0.99995745 -0.00677431 0.00626109 0.07464885] [ 0.00670049 0.99990867 0.01173711 0.00038911] [-0.00634003 -0.01169466 0.99991152 -0.00080458] [ 0. 0. 0. 1. ]] baseline norm: 0.07465420282914488 [m] Baseline (cam2 to cam3): [[-0.00225879 -0.00673596 0.99997476 0.07752519] [-0.00254603 0.99997411 0.0067302 0.00010414] [-0.99999421 -0.00253076 -0.00227588 -0.03692891] [ 0. 0. 0. 1. ]] baseline norm: 0.08587147528002492 [m] Gravity vector in target coords: [m/s^2] [-9.71407346 0.03144727 -1.34320917] 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]