Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04940616  0.08712177  0.00039218 -0.00131025] +- [0.00093987 0.00203736 0.00007963 0.00005537]
    projection: [1031.88399229 1031.48192315  634.29808475  366.39105342] +- [0.12112506 0.12783928 0.00570335 0.12022572]
    reprojection error: [0.000159, -0.000075] +- [0.507526, 0.430341]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05616592  0.0894742   0.0013979  -0.00038158] +- [0.00095815 0.00209754 0.00007619 0.00005302]
    projection: [1031.36879978 1031.06491961  634.87768084  367.62546105] +- [0.12462947 0.12894203 0.0024552  0.08284658]
    reprojection error: [0.000179, -0.000085] +- [0.616755, 0.576574]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39637347  0.16418491 -0.00003184  0.00070978] +- [0.00054185 0.00099088 0.00005319 0.00003502]
    projection: [1057.54595775 1057.44953393  674.25647314  335.82907046] +- [0.11090686 0.11149445 0.02780577 0.19278486]
    reprojection error: [0.000289, -0.000116] +- [0.173944, 0.142095]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39388342  0.15602662 -0.00032142  0.00125614] +- [0.00044318 0.00071406 0.0000493  0.00003341]
    projection: [1052.19472492 1052.61834484  670.97169632  329.43402809] +- [0.10800749 0.10929088 0.00965433 0.1962022 ]
    reprojection error: [0.000395, -0.000231] +- [0.192986, 0.144990]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41688044  0.18993708  0.00026017  0.00014251] +- [0.00072549 0.00177699 0.00005337 0.00003655]
    projection: [1264.00083888 1263.57598006  650.76484047  366.8843554 ] +- [0.11387152 0.11422361 0.0083229  0.08554764]
    reprojection error: [0.000238, -0.000041] +- [0.369283, 0.190696]

baseline T_1_0:
    q: [-0.00088823  0.00170184 -0.00037513  0.99999809] +- [0.00011603 0.0000511  0.00003795]
    t: [-0.12022098  0.00090584 -0.00011366] +- [0.00003072 0.00002951 0.00009119]

baseline T_2_1:
    q: [-0.00018103 -0.00191883 -0.00512067  0.99998503] +- [0.00022657 0.00005521 0.00003544]
    t: [0.12020811 0.06924435 0.00412882] +- [0.00002807 0.00002668 0.00008576]

baseline T_3_2:
    q: [-0.00018475 -0.00331257  0.00020039  0.99999448] +- [0.00028252 0.00005278 0.00003059]
    t: [-0.12002363 -0.00012843  0.00110524] +- [0.00002431 0.00002165 0.00007801]

baseline T_4_3:
    q: [0.00252245 0.00515898 0.00035182 0.99998345] +- [0.00023713 0.00003798 0.00003015]
    t: [0.08881793 0.00620989 0.00325709] +- [0.00002295 0.00002064 0.00007297]



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

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