Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04710825  0.07750951  0.00043356  0.0001561 ] +- [0.00087418 0.00185027 0.00007145 0.00005105]
    projection: [1028.20896453 1027.8915324   638.06460891  365.72680984] +- [0.11861728 0.11948496 0.00731092 0.10137203]
    reprojection error: [-0.000126, -0.000291] +- [0.584431, 0.575669]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05257437  0.07959145  0.00143033  0.00109985] +- [0.00090041 0.00192354 0.00007216 0.0000573 ]
    projection: [1027.87122428 1027.72913779  639.65045941  366.49531604] +- [0.12641775 0.12500304 0.00503287 0.09642822]
    reprojection error: [-0.000034, -0.000108] +- [0.614993, 0.583058]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38691592  0.14807492 -0.00001491  0.00059266] +- [0.00043243 0.00068103 0.00004892 0.00003143]
    projection: [1052.8809339  1053.04595506  675.65951484  333.93238258] +- [0.10589833 0.10804934 0.00698084 0.17087732]
    reprojection error: [0.000168, 0.000259] +- [0.285899, 0.249505]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38664178  0.14470425 -0.00039765  0.00104969] +- [0.00038558 0.00055229 0.00004686 0.0000351 ]
    projection: [1048.22036373 1048.664011    672.88491581  328.14924327] +- [0.10714738 0.10740881 0.00507909 0.16565899]
    reprojection error: [0.000374, 0.000084] +- [0.284906, 0.248143]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41111721  0.18022438 -0.00013261  0.00016641] +- [0.00068658 0.00157093 0.00005239 0.00003588]
    projection: [1259.6905929  1259.56535186  651.57533264  367.8103925 ] +- [0.12074755 0.12116242 0.00350129 0.03569351]
    reprojection error: [0.000429, -0.000222] +- [0.327104, 0.354205]

baseline T_1_0:
    q: [-0.00072729  0.00224701 -0.00030287  0.99999717] +- [0.00006916 0.00004775 0.00003396]
    t: [-0.12018171  0.00096641 -0.0003373 ] +- [0.00003007 0.00002711 0.00009106]

baseline T_2_1:
    q: [ 0.00009999 -0.00401417 -0.00528302  0.99997798] +- [0.0002254  0.00004478 0.00003169]
    t: [0.12006212 0.06954627 0.00359061] +- [0.00002868 0.00002664 0.00008979]

baseline T_3_2:
    q: [-0.000535   -0.00243525  0.00032461  0.99999684] +- [0.00024995 0.00004126 0.00002804]
    t: [-0.11996006 -0.00007587  0.00103551] +- [0.00002691 0.00002417 0.00008321]

baseline T_4_3:
    q: [0.00145697 0.00415648 0.00034121 0.99999024] +- [0.00018011 0.00003834 0.00002747]
    t: [0.08885877 0.00625581 0.00347604] +- [0.0000247  0.00002341 0.0000835 ]



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

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