Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04808348  0.08491605  0.00021195 -0.00172984] +- [0.00100472 0.00218769 0.00006914 0.00005667]
    projection: [1033.68267355 1033.49697202  633.32457115  366.05170267] +- [0.14311409 0.13852985 0.00535779 0.02269209]
    reprojection error: [0.000349, 0.000059] +- [0.763401, 0.614271]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05248536  0.08316828  0.0018384  -0.00102482] +- [0.00107723 0.0024322  0.0000717  0.0000534 ]
    projection: [1032.16302049 1032.64216212  633.10639052  368.24927485] +- [0.14493685 0.14232303 0.00325475 0.02098349]
    reprojection error: [0.000405, -0.000043] +- [0.878829, 0.702036]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38985961  0.15111215 -0.00004134  0.0005859 ] +- [0.00047423 0.00074981 0.00004801 0.00003461]
    projection: [1058.66286796 1058.72626398  672.56060547  335.46751649] +- [0.12378466 0.1227987  0.02915067 0.15619817]
    reprojection error: [0.000392, -0.000139] +- [0.393562, 0.305112]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38914386  0.14748152 -0.00027546  0.00121203] +- [0.00042871 0.00063633 0.00004714 0.00003249]
    projection: [1053.48424498 1054.16377839  670.4306392   328.06523221] +- [0.1207778  0.12083861 0.02738928 0.15547009]
    reprojection error: [0.000340, -0.000308] +- [0.388932, 0.314994]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41507866  0.18609084  0.00004166  0.00011111] +- [0.00080142 0.00196295 0.00005536 0.00003942]
    projection: [1265.47441667 1265.45367834  650.444272    368.01159099] +- [0.13628286 0.13357278 0.00137028 0.01306114]
    reprojection error: [0.000224, -0.000240] +- [0.273763, 0.228867]

baseline T_1_0:
    q: [-0.00138062  0.00122523 -0.00037904  0.99999822] +- [0.00005468 0.00004597 0.00004147]
    t: [-0.12030512  0.00085321 -0.00012173] +- [0.00002957 0.00002849 0.00011533]

baseline T_2_1:
    q: [ 0.00024778 -0.00203402 -0.00524005  0.99998417] +- [0.0001352  0.00004823 0.00003869]
    t: [0.12006776 0.06938411 0.00414593] +- [0.00002739 0.00002815 0.00010905]

baseline T_3_2:
    q: [ 0.00022005 -0.00250936  0.00025731  0.99999679] +- [0.00029122 0.00006563 0.00003197]
    t: [-0.11999039 -0.00004913  0.0012614 ] +- [0.0000248  0.00002598 0.00009661]

baseline T_4_3:
    q: [0.00144197 0.00513962 0.00024241 0.99998572] +- [0.00014647 0.00004391 0.00003262]
    t: [0.08888568 0.00617406 0.00298109] +- [0.00002321 0.00002466 0.00009764]



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

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