Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0431334   0.07288198  0.00058351 -0.00127561] +- [0.00107028 0.00214978 0.00010093 0.00006768]
    projection: [1031.84262859 1030.10381777  635.71409589  365.59991372] +- [0.15210615 0.14650963 0.02453825 0.22400533]
    reprojection error: [-0.000425, 0.000064] +- [0.729431, 0.672676]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0456886   0.07024343  0.001102   -0.00068348] +- [0.00109736 0.00233757 0.00010168 0.00006521]
    projection: [1030.46186128 1029.51180204  635.69022466  364.32444857] +- [0.15107201 0.14412885 0.03697797 0.24398608]
    reprojection error: [-0.000227, 0.000070] +- [0.795601, 0.658610]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38857313  0.15038306 -0.00056101  0.00047074] +- [0.0005256  0.00082237 0.00005425 0.00004233]
    projection: [1056.37914187 1056.34177867  674.47094517  337.53990227] +- [0.12458322 0.12313598 0.21626764 0.20075546]
    reprojection error: [0.000171, -0.000080] +- [0.504327, 0.441607]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39138058  0.15039493 -0.0006628   0.00117956] +- [0.00046305 0.00069097 0.00005797 0.0000424 ]
    projection: [1052.65545508 1052.79551471  671.63303136  330.54651619] +- [0.12305848 0.12107373 0.26880511 0.19330217]
    reprojection error: [0.000591, -0.000034] +- [0.497549, 0.423116]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41631266  0.1934814  -0.00053057 -0.00015221] +- [0.01046439 0.03107987 0.00077558 0.00061091]
    projection: [1269.18576893 1269.52626354  654.87661083  366.12841687] +- [0.00096871 0.00082022 0.0000617  0.00017206]
    reprojection error: [0.000229, 0.000069] +- [0.347129, 0.363075]

baseline T_1_0:
    q: [ 0.00023416  0.00137866 -0.0003044   0.99999898] +- [0.00038384 0.00007739 0.00004406]
    t: [-0.1201884   0.00106054  0.00010729] +- [0.00003623 0.0000299  0.00011624]

baseline T_2_1:
    q: [-0.00249056 -0.00241466 -0.00584467  0.9999769 ] +- [0.00036633 0.00017699 0.00004283]
    t: [0.12028657 0.0691409  0.00395558] +- [0.00003181 0.00002842 0.0001082 ]

baseline T_3_2:
    q: [-0.0000026  -0.00243479  0.00023744  0.99999701] +- [0.00029452 0.00046369 0.00003605]
    t: [-0.11998998 -0.00004934  0.00143349] +- [0.00002869 0.00002477 0.00009726]

baseline T_4_3:
    q: [0.00279313 0.00608988 0.00030593 0.99997751] +- [0.00081409 0.00085303 0.00025109]
    t: [0.08889541 0.00662579 0.00475153] +- [0.00030595 0.00029593 0.00025355]



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

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