Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05104443  0.08420887  0.00010006 -0.00092964] +- [0.00106695 0.00232847 0.00009077 0.00006875]
    projection: [1030.19462421 1029.3068588   633.83961879  362.23800177] +- [0.14260139 0.16263904 0.00631342 0.09200885]
    reprojection error: [0.000049, -0.000229] +- [0.577158, 0.490324]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05840765  0.09040965  0.00122779  0.00005113] +- [0.00107807 0.00247792 0.00008948 0.00005638]
    projection: [1029.81809755 1029.27092856  636.65819102  365.19484752] +- [0.15074521 0.16151786 0.00762595 0.08696364]
    reprojection error: [0.000095, -0.000218] +- [0.580231, 0.503515]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39711598  0.1636178   0.00002696  0.00049278] +- [0.00058454 0.00106118 0.00006107 0.0000456 ]
    projection: [1057.51877481 1057.24485906  675.00783685  336.23426332] +- [0.13986129 0.15005134 0.03387056 0.19035362]
    reprojection error: [0.000217, -0.000183] +- [0.207498, 0.184305]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39609844  0.15758647 -0.00006988  0.00095242] +- [0.00050528 0.00089102 0.00006208 0.00003729]
    projection: [1052.60593367 1052.49147206  672.90223778  328.22290367] +- [0.14613599 0.14836472 0.02297215 0.20739798]
    reprojection error: [0.000258, -0.000051] +- [0.204242, 0.174841]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41669413  0.18831148  0.0002131  -0.00018571] +- [0.00084337 0.0022059  0.0000626  0.00004506]
    projection: [1263.53179473 1262.74540022  654.92489227  366.96647192] +- [0.14222411 0.1479434  0.00485849 0.06037752]
    reprojection error: [0.000059, 0.000143] +- [0.257731, 0.231908]

baseline T_1_0:
    q: [-0.00018903  0.00235657 -0.00028519  0.99999716] +- [0.00012741 0.00004928 0.00004668]
    t: [-0.12011256  0.00089973 -0.00023867] +- [0.00003294 0.00003595 0.00013069]

baseline T_2_1:
    q: [-0.00034514 -0.00374107 -0.00452714  0.99998269] +- [0.00016756 0.00005877 0.00004347]
    t: [0.12026653 0.06910046 0.00466845] +- [0.00003089 0.00003286 0.00012715]

baseline T_3_2:
    q: [0.00021653 0.00061677 0.00026878 0.99999975] +- [0.00036146 0.0000652  0.00003728]
    t: [-0.11997011 -0.00011287  0.0005519 ] +- [0.00002953 0.0000307  0.00013469]

baseline T_4_3:
    q: [0.00203947 0.00246715 0.00037357 0.99999481] +- [0.00020356 0.00004247 0.00003572]
    t: [0.08876744 0.00618542 0.00298248] +- [0.00002735 0.00002765 0.00011819]



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

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