Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04724997  0.07903139  0.00047211 -0.00107263] +- [0.00107032 0.00228782 0.00008202 0.00005861]
    projection: [1031.35604339 1031.46938163  634.87623341  366.06997172] +- [0.14972523 0.15325945 0.00449393 0.12777454]
    reprojection error: [0.000172, 0.000027] +- [0.525161, 0.451238]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05098765  0.07404911  0.00174134  0.00001399] +- [0.00110065 0.00231323 0.00007914 0.00005716]
    projection: [1031.1878257  1031.23246009  636.42060033  368.8004534 ] +- [0.15183343 0.15648462 0.00748966 0.08072262]
    reprojection error: [0.000075, -0.000006] +- [0.698012, 0.576714]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39387206  0.15810057 -0.00006533  0.0005881 ] +- [0.00056506 0.00096626 0.00005581 0.0000368 ]
    projection: [1056.57866761 1057.12818717  675.67492554  336.19383134] +- [0.12653779 0.13163296 0.02032057 0.20254831]
    reprojection error: [0.000020, -0.000087] +- [0.194089, 0.152722]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39298909  0.1531909  -0.00005106  0.00086113] +- [0.00048803 0.0007491  0.00005178 0.00003544]
    projection: [1051.68258625 1052.23214647  675.81968435  328.28496795] +- [0.11821579 0.12732458 0.01581542 0.20025359]
    reprojection error: [-0.000048, -0.000143] +- [0.205874, 0.151870]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41425487  0.1842289   0.00005025  0.00015636] +- [0.00077341 0.00176619 0.00005538 0.00003923]
    projection: [1262.36624986 1262.51069008  651.80988776  367.81628728] +- [0.13365259 0.13820968 0.00741837 0.08292679]
    reprojection error: [-0.000045, -0.000081] +- [0.237578, 0.242749]

baseline T_1_0:
    q: [-0.00147683  0.00212623 -0.0003062   0.9999966 ] +- [0.0001231  0.00006626 0.00003938]
    t: [-0.12031256  0.00089407 -0.00001665] +- [0.00004351 0.00003435 0.00012337]

baseline T_2_1:
    q: [ 0.0002568  -0.00204509 -0.00519191  0.9999844 ] +- [0.00024137 0.00006717 0.00003712]
    t: [0.12020068 0.06918211 0.00390225] +- [0.0000402  0.00003146 0.00011475]

baseline T_3_2:
    q: [ 0.00054983 -0.00157645  0.00018907  0.99999859] +- [0.00029555 0.00005847 0.00003129]
    t: [-0.1199956  -0.00014169  0.00055935] +- [0.00003171 0.00002504 0.00009679]

baseline T_4_3:
    q: [0.00158933 0.00328086 0.0004553  0.99999325] +- [0.00024283 0.00005334 0.00003111]
    t: [0.08888866 0.00619016 0.0031727 ] +- [0.00003132 0.00002424 0.00008896]



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

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