Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05023217  0.08541707 -0.00033655 -0.00022546] +- [0.0012458  0.00304937 0.00008624 0.00005595]
    projection: [1033.70021173 1032.9662337   636.7474923   359.68456239] +- [0.18324443 0.18001496 0.00518548 0.07535926]
    reprojection error: [0.000228, -0.000047] +- [0.646585, 0.570415]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0539046   0.08042954  0.00126327  0.00086381] +- [0.00120095 0.00273633 0.00008551 0.00006962]
    projection: [1033.2105171  1033.06220678  636.19389465  366.42827025] +- [0.21022319 0.20072944 0.00908939 0.07260106]
    reprojection error: [0.000175, -0.000119] +- [0.677229, 0.590816]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39707241  0.16485734 -0.0000434   0.00039343] +- [0.00055905 0.00103909 0.00005593 0.00003337]
    projection: [1059.49311341 1059.65325724  676.03919116  334.61238256] +- [0.13552998 0.13529175 0.00950538 0.26113629]
    reprojection error: [0.000213, -0.000179] +- [0.212373, 0.177109]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39383106  0.15599943 -0.000226    0.00112849] +- [0.00048564 0.00076441 0.00005361 0.00003978]
    projection: [1053.8439615  1054.60023766  672.4009653   327.43070741] +- [0.1484341  0.14450923 0.01148039 0.27406511]
    reprojection error: [0.000248, -0.000190] +- [0.242276, 0.190770]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41891406  0.19552524  0.00008314 -0.00018504] +- [0.00080369 0.00208228 0.00005823 0.00003822]
    projection: [1265.75819772 1265.78107026  654.43045638  365.94009707] +- [0.14791225 0.14645883 0.00705058 0.17092732]
    reprojection error: [0.000126, -0.000177] +- [0.216767, 0.190787]

baseline T_1_0:
    q: [-0.00158763  0.00201814 -0.00029796  0.99999666] +- [0.00010666 0.00008083 0.00004891]
    t: [-0.12013992  0.0007929  -0.00041032] +- [0.00004283 0.00003991 0.00014336]

baseline T_2_1:
    q: [ 0.00045654 -0.00408326 -0.00485045  0.9999798 ] +- [0.00026579 0.00007384 0.00004487]
    t: [0.12027705 0.06925807 0.00397008] +- [0.00003812 0.00003521 0.0001278 ]

baseline T_3_2:
    q: [-0.00031674 -0.00024622  0.00037275  0.99999985] +- [0.00036748 0.00005847 0.00003927]
    t: [-0.12004218 -0.00009424  0.00058822] +- [0.00002938 0.00002701 0.00009472]

baseline T_4_3:
    q: [0.00218062 0.00257621 0.00026865 0.99999427] +- [0.00035545 0.00005499 0.00003878]
    t: [0.08889515 0.00619263 0.00290837] +- [0.00002806 0.00002471 0.00009071]



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

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