Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04805022  0.0505056  -0.0020204  -0.01057718] +- [0.0007831  0.00151549 0.00006763 0.00005327]
    projection: [1032.3690086  1026.33175765  599.13004363  360.0675969 ] +- [0.14178235 0.1409297  0.01061725 0.10815924]
    reprojection error: [-0.000324, 0.000332] +- [5.096748, 2.880047]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05619684  0.07304762  0.00010565 -0.00861453] +- [0.00091162 0.00196793 0.00007198 0.0000542 ]
    projection: [1028.96402904 1025.0555768   612.43354214  362.6059749 ] +- [0.14650804 0.14434894 0.01346854 0.09952207]
    reprojection error: [-0.000652, 0.000564] +- [5.134071, 2.707884]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38017872  0.13324396  0.00042345 -0.00054668] +- [0.00036702 0.00052553 0.00004674 0.00002892]
    projection: [1050.15390984 1050.82480534  683.00014075  336.97476652] +- [0.12238467 0.12294942 0.01460388 0.1889909 ]
    reprojection error: [-0.000475, 0.000578] +- [2.462683, 1.269313]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38002667  0.13149355 -0.00007706 -0.00023448] +- [0.00031399 0.00040278 0.00004592 0.00003163]
    projection: [1045.08881749 1046.32443518  681.31040024  328.78453597] +- [0.11570041 0.11760263 0.01087547 0.18558129]
    reprojection error: [-0.000271, 0.000567] +- [2.327337, 1.222977]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4088645   0.17354526  0.00111334 -0.00096761] +- [0.00071886 0.00172227 0.00005161 0.00003587]
    projection: [1256.29668257 1256.83540978  658.04653963  364.27319482] +- [0.13864405 0.13743415 0.00640349 0.05781385]
    reprojection error: [-0.000228, 0.000622] +- [2.625179, 1.323668]

baseline T_1_0:
    q: [-0.00124634  0.00749074  0.00034909  0.99997111] +- [0.00008732 0.00006557 0.00003982]
    t: [-0.12022182  0.00056433  0.00119947] +- [0.00003532 0.00003279 0.00010855]

baseline T_2_1:
    q: [-0.00449177  0.01207054 -0.00436622  0.99990753] +- [0.00025139 0.00006108 0.00003613]
    t: [0.11861345 0.07031882 0.00462853] +- [0.00003224 0.00003185 0.00010302]

baseline T_3_2:
    q: [ 0.00059374 -0.00239057  0.00018818  0.99999695] +- [0.00026369 0.00005216 0.00002991]
    t: [-0.12011082 -0.00002634  0.00042886] +- [0.00002929 0.00002806 0.00009192]

baseline T_4_3:
    q: [0.00330618 0.00326183 0.00024823 0.99998918] +- [0.00021167 0.00004763 0.00003083]
    t: [0.08917737 0.00616217 0.00343995] +- [0.00002812 0.00002785 0.0000946 ]



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

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