Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04942202  0.07765947  0.00087733 -0.00152492] +- [0.00102218 0.00223194 0.0000855  0.00005846]
    projection: [1027.73067754 1027.22172713  631.5864158   368.42668839] +- [0.16555401 0.16466557 0.01420139 0.2165578 ]
    reprojection error: [0.000037, -0.000036] +- [0.550478, 0.508737]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05605906  0.08282759  0.00182783 -0.00003058] +- [0.00109421 0.00250479 0.00007684 0.00005572]
    projection: [1027.63970333 1027.51509453  634.56849554  370.16403364] +- [0.15935812 0.15434859 0.00421135 0.07427198]
    reprojection error: [0.000038, -0.000049] +- [0.623286, 0.583488]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39869676  0.16445166 -0.00013072  0.0015014 ] +- [0.0006067  0.00108183 0.00005372 0.00003907]
    projection: [1053.89781698 1053.29007318  669.2007802   335.62603231] +- [0.15758798 0.15637277 0.00868723 0.20704185]
    reprojection error: [0.000078, 0.000050] +- [0.834890, 0.768620]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39279013  0.15002956 -0.00029922  0.00140275] +- [0.00048136 0.0007414  0.00005688 0.00003467]
    projection: [1048.73110068 1048.45307196  670.54497331  328.28442879] +- [0.16050355 0.15471907 0.00738315 0.23486538]
    reprojection error: [-0.000008, 0.000098] +- [0.836581, 0.775466]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41345455  0.18264947 -0.00018117  0.00128141] +- [0.00085262 0.00207314 0.00005767 0.00004956]
    projection: [1254.91957248 1254.34584742  644.18704876  367.23280902] +- [0.05792623 0.05740512 0.00444547 0.02614386]
    reprojection error: [-0.000037, -0.000177] +- [0.839714, 0.930685]

baseline T_1_0:
    q: [-0.00106631  0.00291852 -0.00041539  0.99999509] +- [0.00021843 0.00007497 0.00003986]
    t: [-0.12019679  0.00100092  0.00024878] +- [0.00005225 0.00004725 0.00016714]

baseline T_2_1:
    q: [ 0.00131551 -0.00410288 -0.00500743  0.99997818] +- [0.00021267 0.00006494 0.00003828]
    t: [0.12026585 0.06909337 0.00283501] +- [0.00004853 0.00004487 0.00016111]

baseline T_3_2:
    q: [ 0.00023849 -0.00102623  0.00024534  0.99999941] +- [0.00033515 0.00005889 0.00003381]
    t: [-0.11999477 -0.00005942  0.00119375] +- [0.00004411 0.00004161 0.00016121]

baseline T_4_3:
    q: [0.0018772  0.00237582 0.00040161 0.99999534] +- [0.00023591 0.00006103 0.00003715]
    t: [0.08845123 0.00610687 0.0011487 ] +- [0.00004409 0.00004237 0.00012586]



Target configuration
====================

  Type: aprilgrid
  Tags: 
    Rows: 5
    Cols: 7
    Size: 0.04 [m]
    Spacing 0.01 [m]