Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05201818  0.0879348  -0.0005421   0.00046309] +- [0.00107396 0.00247638 0.00008235 0.00005965]
    projection: [1030.65992481 1030.382989    640.06913196  360.93521474] +- [0.16300075 0.16067049 0.01269783 0.1347229 ]
    reprojection error: [-0.000155, 0.000139] +- [0.525809, 0.460925]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05529555  0.08241079  0.00012524  0.00101529] +- [0.00106393 0.00237797 0.00007464 0.0000585 ]
    projection: [1030.09042286 1029.73030511  640.15930521  360.65834854] +- [0.1769099  0.17055204 0.00623406 0.08099238]
    reprojection error: [-0.000132, 0.000351] +- [0.727134, 0.599162]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.3926429   0.15629572  0.00081903  0.00033549] +- [0.00051509 0.00085261 0.00005983 0.00003716]
    projection: [1055.47437867 1056.11872168  679.53598529  327.77957782] +- [0.14009439 0.14133937 0.01122238 0.23568603]
    reprojection error: [-0.000067, 0.000599] +- [0.205932, 0.192997]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38786303  0.14533473  0.00039012  0.00091234] +- [0.00041011 0.00056997 0.00005319 0.00003448]
    projection: [1049.87045895 1050.70633008  673.9759719   323.03165232] +- [0.14177621 0.13994827 0.00889258 0.23065705]
    reprojection error: [0.000188, 0.000378] +- [0.233078, 0.198265]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41571279  0.18693884  0.00100019 -0.00016628] +- [0.00074987 0.0017483  0.00006139 0.00003986]
    projection: [1261.99912824 1262.31385289  654.21725293  359.66142806] +- [0.15676452 0.15420608 0.00600245 0.08330613]
    reprojection error: [0.000179, 0.000440] +- [0.220763, 0.204945]

baseline T_1_0:
    q: [-0.00006018  0.00154694 -0.00005475  0.9999988 ] +- [0.00009947 0.00007353 0.000043  ]
    t: [-0.12017726  0.00103186 -0.00049839] +- [0.00004075 0.00003655 0.0001327 ]

baseline T_2_1:
    q: [ 0.0004752  -0.00239864 -0.00542506  0.99998229] +- [0.00026549 0.00006579 0.00004017]
    t: [0.12002391 0.06901675 0.00388781] +- [0.00003748 0.00003459 0.00012309]

baseline T_3_2:
    q: [-0.00094464 -0.00377673  0.00052297  0.99999229] +- [0.00032522 0.00005486 0.00003521]
    t: [-0.11992907 -0.00010809  0.00073673] +- [0.00003216 0.0000318  0.00010759]

baseline T_4_3:
    q: [0.00231292 0.00462794 0.00021225 0.99998659] +- [0.00026358 0.00005213 0.00003548]
    t: [0.08873341 0.00622195 0.00357433] +- [0.00003141 0.0000295  0.00010807]



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

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