Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04844637  0.08229217 -0.00014757 -0.00050909] +- [0.00095342 0.00204647 0.00007506 0.00005255]
    projection: [1032.3395882  1031.83454564  637.28476752  363.56886839] +- [0.16421573 0.16018597 0.01599425 0.14578449]
    reprojection error: [0.000062, -0.000008] +- [0.501088, 0.448331]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05787272  0.09066717  0.00102899  0.00070779] +- [0.00105677 0.00255532 0.00007537 0.00006525]
    projection: [1031.66878651 1031.32710994  638.95903546  365.63673123] +- [0.05733734 0.05808698 0.00916644 0.04614271]
    reprojection error: [0.000039, -0.000066] +- [0.593095, 0.532652]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.3966956   0.16510538  0.00018344  0.00034423] +- [0.00056511 0.00102333 0.00005138 0.0000324 ]
    projection: [1057.10141016 1057.22685756  677.16944783  334.57592259] +- [0.15083012 0.14828826 0.03121556 0.2055613 ]
    reprojection error: [0.000073, -0.000110] +- [0.161623, 0.137282]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39524255  0.15806868  0.00000708  0.00081447] +- [0.00050963 0.00087518 0.00005472 0.00004337]
    projection: [1052.75268468 1053.21453112  675.31621863  326.99690863] +- [0.15546591 0.15572172 0.03431771 0.22199359]
    reprojection error: [0.000108, -0.000150] +- [0.168200, 0.135982]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41561262  0.18809682  0.00007138 -0.0000194 ] +- [0.00073345 0.00175636 0.00005247 0.0000385 ]
    projection: [1263.10114714 1263.15821326  651.9750113   367.11415999] +- [0.1436026  0.14048779 0.01157265 0.06924146]
    reprojection error: [0.000128, -0.000066] +- [0.236337, 0.219348]

baseline T_1_0:
    q: [-0.00134695  0.00209107 -0.00024193  0.99999688] +- [0.00011145 0.00005861 0.00004086]
    t: [-0.12031286  0.00098702 -0.00052926] +- [0.00003801 0.00003313 0.00010688]

baseline T_2_1:
    q: [-0.00042253 -0.00258041 -0.00517888  0.99998317] +- [0.00021287 0.00006246 0.00003848]
    t: [0.1200408  0.06910896 0.00392141] +- [0.00003523 0.00003322 0.00010801]

baseline T_3_2:
    q: [ 0.00031998 -0.00260504  0.00024963  0.99999652] +- [0.00030448 0.00006479 0.00003316]
    t: [-0.11993811 -0.00007311  0.00127721] +- [0.00003309 0.00003038 0.00013053]

baseline T_4_3:
    q: [0.00124999 0.00354259 0.0004273  0.99999285] +- [0.00024802 0.00005588 0.00003191]
    t: [0.08874837 0.0062362  0.00271728] +- [0.00002969 0.00002896 0.00012659]



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

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