Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04715779  0.08369893  0.00067874 -0.00013027] +- [0.00093982 0.00205769 0.00008394 0.00004998]
    projection: [1032.45502044 1032.51758469  637.97674555  367.44439767] +- [0.17011852 0.16827761 0.04013813 0.22292217]
    reprojection error: [-0.000003, -0.000022] +- [0.561306, 0.381771]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05077504  0.08001786  0.00182147  0.00045665] +- [0.00091723 0.00196594 0.00007782 0.00005433]
    projection: [1031.29967615 1031.70389847  637.36686421  369.03335374] +- [0.05872856 0.06081084 0.01584583 0.15224075]
    reprojection error: [0.000106, -0.000079] +- [0.608002, 0.522573]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39431434  0.15905186 -0.00045513  0.00089647] +- [0.00050098 0.00086151 0.00005213 0.00003162]
    projection: [1058.56121739 1058.71064356  671.59084181  338.93918176] +- [0.15745646 0.15927355 0.03546591 0.20416556]
    reprojection error: [0.000261, -0.000338] +- [0.190288, 0.150877]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39194837  0.15254771 -0.0005825   0.00143795] +- [0.0004406  0.00066992 0.00005088 0.0000339 ]
    projection: [1052.72586467 1053.51619252  668.92643155  331.34476774] +- [0.16988547 0.16635048 0.0309507  0.19701978]
    reprojection error: [0.000403, -0.000369] +- [0.201592, 0.149885]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41769851  0.19250191 -0.00009369  0.0004298 ] +- [0.00072093 0.00174137 0.00005264 0.00003483]
    projection: [1265.47099506 1265.14659309  648.3423476   369.04241735] +- [0.1483887  0.15123053 0.02068609 0.1212228 ]
    reprojection error: [0.000347, -0.000095] +- [0.434431, 0.191469]

baseline T_1_0:
    q: [-0.00103938  0.00117976 -0.0003782   0.99999869] +- [0.00031602 0.00008595 0.00003879]
    t: [-0.12019643  0.00090712 -0.00039471] +- [0.0000462  0.00004418 0.00011422]

baseline T_2_1:
    q: [-0.00108086 -0.00462186 -0.00500124  0.99997623] +- [0.00028163 0.00007775 0.00003643]
    t: [0.12011601 0.06933981 0.0042437 ] +- [0.00004414 0.00004205 0.0001147 ]

baseline T_3_2:
    q: [ 0.00038782 -0.00277396  0.00015608  0.99999607] +- [0.00028041 0.00007748 0.00003207]
    t: [-0.11996923 -0.00013904  0.00105266] +- [0.00004329 0.00003949 0.0001496 ]

baseline T_4_3:
    q: [0.00251186 0.0048876  0.00052346 0.99998476] +- [0.00024288 0.0000672  0.00003195]
    t: [0.08869039 0.00625874 0.00329731] +- [0.00004074 0.00003566 0.00013882]



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

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