Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04609943  0.07857733 -0.00006457 -0.00239367] +- [0.00103997 0.00228732 0.0000752  0.00006774]
    projection: [1035.22468431 1034.81090307  629.22144494  363.88827975] +- [0.14483653 0.14388191 0.00553593 0.00291133]
    reprojection error: [0.000345, 0.000518] +- [0.606271, 0.538567]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05014874  0.08026686  0.00122553 -0.0010863 ] +- [0.00111945 0.00258076 0.00007998 0.00006189]
    projection: [1033.88447915 1033.8977882   631.25797912  365.49397053] +- [0.14860271 0.14832083 0.00203042 0.034348  ]
    reprojection error: [0.000434, 0.000421] +- [0.761697, 0.692739]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39178384  0.15109403 -0.00012711  0.00148735] +- [0.00048836 0.00078285 0.00005186 0.00004339]
    projection: [1060.05652758 1060.07625769  667.67163229  336.03452354] +- [0.11757137 0.11868579 0.00459303 0.1346797 ]
    reprojection error: [0.000462, 0.000155] +- [0.605946, 0.557013]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39299296  0.15043159 -0.00030025  0.00191688] +- [0.00044757 0.00072897 0.00005353 0.000038  ]
    projection: [1055.68924845 1056.15674144  667.45976107  328.85935884] +- [0.11384818 0.11387288 0.00509793 0.17833016]
    reprojection error: [0.000267, -0.000272] +- [0.709748, 0.677663]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41561366  0.18442594 -0.00047654  0.00110007] +- [0.00090731 0.00237696 0.00005938 0.00004981]
    projection: [1265.79198878 1265.53611675  645.89572407  371.11169235] +- [0.13528863 0.13308739 0.00175117 0.01353039]
    reprojection error: [0.000076, -0.000580] +- [0.808711, 0.844633]

baseline T_1_0:
    q: [-0.00087363  0.00243039 -0.00035283  0.9999966 ] +- [0.00006223 0.00005672 0.00004113]
    t: [-0.12025877  0.00074425 -0.0001545 ] +- [0.00003808 0.00003548 0.00012852]

baseline T_2_1:
    q: [-0.00140159 -0.00346282 -0.00500877  0.99998048] +- [0.00010839 0.00005003 0.00003844]
    t: [0.12013637 0.06945621 0.00348873] +- [0.00003392 0.0000324  0.00011819]

baseline T_3_2:
    q: [ 0.00022951 -0.00146639  0.00024151  0.99999887] +- [0.00029598 0.00004337 0.00003104]
    t: [-0.11992472 -0.00014786  0.00153784] +- [0.00002937 0.00002798 0.00009873]

baseline T_4_3:
    q: [0.00049821 0.00449876 0.00041066 0.99998967] +- [0.0001795  0.00004038 0.00003203]
    t: [0.08867354 0.00620806 0.0022616 ] +- [0.00002743 0.00002629 0.00009947]



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

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