Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04809944  0.08150917  0.00050312 -0.00130913] +- [0.00107731 0.00233791 0.00008926 0.00005801]
    projection: [1030.92325964 1030.00315866  633.71072733  362.62458454] +- [0.15010827 0.16030167 0.0112311  0.12167385]
    reprojection error: [0.000107, -0.000050] +- [0.505655, 0.433875]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05389102  0.08443207  0.0014159  -0.00022391] +- [0.00110262 0.00244619 0.00009179 0.00006088]
    projection: [1030.97371575 1030.26872244  636.14896729  365.23145089] +- [0.15393508 0.16870078 0.00948105 0.10853878]
    reprojection error: [0.000082, -0.000062] +- [0.523271, 0.468950]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.3947465   0.16000757  0.00034919  0.00030134] +- [0.00055357 0.0009988  0.00005983 0.00003607]
    projection: [1056.96005871 1056.44049972  674.87065908  334.82798898] +- [0.13972093 0.13889202 0.02970466 0.24255466]
    reprojection error: [0.000109, -0.000137] +- [0.177462, 0.153398]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39399404  0.15502765  0.00013645  0.00081473] +- [0.0004772  0.00076335 0.00005824 0.00003933]
    projection: [1051.85103241 1051.60693036  673.23662621  327.45933503] +- [0.13822693 0.14124144 0.00875351 0.24080145]
    reprojection error: [0.000094, -0.000155] +- [0.192936, 0.153375]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4158847   0.18856349  0.0003964  -0.00022537] +- [0.00084608 0.00217181 0.00005909 0.00004032]
    projection: [1262.77452218 1261.7398924   653.08132323  366.02630425] +- [0.13598058 0.13805974 0.01046231 0.11463278]
    reprojection error: [0.000012, -0.000075] +- [0.218475, 0.203085]

baseline T_1_0:
    q: [-0.00004352  0.002071   -0.00034779  0.99999779] +- [0.00010871 0.00005258 0.00004625]
    t: [-0.12014495  0.00095135  0.00024308] +- [0.00003303 0.00003385 0.00013304]

baseline T_2_1:
    q: [ 0.00026911 -0.00356681 -0.00474994  0.99998232] +- [0.00028236 0.0000579  0.00004167]
    t: [0.12000597 0.06927114 0.0034483 ] +- [0.00002991 0.00003219 0.00012695]

baseline T_3_2:
    q: [-0.00012522  0.00066967  0.00029697  0.99999972] +- [0.00033577 0.00005439 0.00003566]
    t: [-0.12002625 -0.00007581  0.00052288] +- [0.00002774 0.00002798 0.0001172 ]

baseline T_4_3:
    q: [0.00204297 0.00172697 0.00035157 0.99999636] +- [0.00028628 0.00004024 0.00003436]
    t: [0.08886835 0.00622817 0.00279058] +- [0.00002575 0.00002654 0.00010962]



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

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