Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0468324   0.07737948  0.00140623  0.00010979] +- [0.00088898 0.00192225 0.00006743 0.00004928]
    projection: [1034.51174254 1034.4542482   639.04165523  372.18139648] +- [0.11346809 0.11389261 0.00433735 0.11165505]
    reprojection error: [0.000263, 0.000011] +- [0.723119, 0.710406]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0484952  0.0723172  0.0027192  0.0008377] +- [0.0008833  0.00190888 0.00006555 0.00005018]
    projection: [1034.00133065 1033.95609225  639.64899902  374.11167662] +- [0.12034204 0.12263363 0.00575441 0.07683072]
    reprojection error: [0.000280, -0.000109] +- [0.758301, 0.704035]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39364989  0.15657989 -0.00003721  0.00039002] +- [0.00046583 0.0007749  0.00004561 0.00003092]
    projection: [1058.99548278 1059.45222349  677.21795654  336.1079182 ] +- [0.09847296 0.09981661 0.01517068 0.17377538]
    reprojection error: [0.000225, -0.000499] +- [0.322600, 0.300042]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39123127  0.148327   -0.00024868  0.00092917] +- [0.00037566 0.00055179 0.00004428 0.00003081]
    projection: [1054.8719466  1055.27991126  674.50515947  329.36087998] +- [0.09602681 0.10017766 0.0097391  0.17198218]
    reprojection error: [0.000253, -0.000670] +- [0.343710, 0.299494]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4173765   0.18961124  0.00056624 -0.00011323] +- [0.00071314 0.00167479 0.00004808 0.00003385]
    projection: [1266.26951577 1266.5868624   653.84225274  364.17219888] +- [0.1146677  0.11353735 0.00140036 0.04040129]
    reprojection error: [-0.000006, 0.000153] +- [0.415644, 0.406135]

baseline T_1_0:
    q: [-0.00134526  0.00164791 -0.00050355  0.99999761] +- [0.00007181 0.00004812 0.00003347]
    t: [-0.12025872  0.00101944 -0.00015268] +- [0.00002672 0.00002435 0.00007811]

baseline T_2_1:
    q: [ 0.00289736 -0.00299434 -0.00528548  0.99997735] +- [0.00021163 0.00004955 0.00003165]
    t: [0.12008108 0.06928587 0.00372253] +- [0.00002572 0.00002415 0.00007638]

baseline T_3_2:
    q: [-0.00006367 -0.00257224  0.00022531  0.99999666] +- [0.0002535  0.00004756 0.0000277 ]
    t: [-0.11990936 -0.00010915  0.00124869] +- [0.0000234  0.00002147 0.00006957]

baseline T_4_3:
    q: [0.00354223 0.00437314 0.00038551 0.99998409] +- [0.00018976 0.00004077 0.00002787]
    t: [0.08876606 0.00623615 0.00305912] +- [0.00002293 0.0000211  0.00007015]



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

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