Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0484265   0.08073155  0.00012441 -0.00083685] +- [0.00106665 0.00246152 0.00008045 0.00005325]
    projection: [1031.59485848 1030.65501832  634.60350367  362.1832057 ] +- [0.15041539 0.15530471 0.00590531 0.10384579]
    reprojection error: [0.000112, -0.000095] +- [0.610906, 0.510559]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05458654  0.08011707  0.00115205  0.00010648] +- [0.00112188 0.00261003 0.00008234 0.00005353]
    projection: [1030.39580992 1029.69619031  637.13188264  364.83160562] +- [0.15916336 0.1610227  0.00223828 0.08411272]
    reprojection error: [0.000135, -0.000109] +- [0.673635, 0.581705]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39721471  0.16336186  0.00016952  0.00046632] +- [0.00053887 0.00099244 0.0000599  0.00003437]
    projection: [1057.5417674  1057.13680365  674.42780691  334.66960944] +- [0.1322816  0.13698952 0.0027233  0.24555203]
    reprojection error: [0.000154, -0.000130] +- [0.205933, 0.167500]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39437134  0.15462115  0.00002971  0.00088419] +- [0.00045163 0.00073032 0.00005569 0.00003388]
    projection: [1052.36335834 1052.57415166  672.29630464  327.66139809] +- [0.13570026 0.13780688 0.00428071 0.24546014]
    reprojection error: [0.000164, -0.000180] +- [0.229661, 0.170394]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41917821  0.19579933  0.00024844 -0.00019186] +- [0.0008043  0.00213665 0.00005626 0.00003571]
    projection: [1263.34780031 1262.63013381  653.17082101  366.0328344 ] +- [0.1326697  0.1362356  0.00235074 0.12469776]
    reprojection error: [0.000043, -0.000119] +- [0.212230, 0.181758]

baseline T_1_0:
    q: [-0.00006611  0.00211581 -0.00031454  0.99999771] +- [0.0000821  0.00004799 0.00004531]
    t: [-0.12016093  0.00093088 -0.00073567] +- [0.0000282  0.00002741 0.00012462]

baseline T_2_1:
    q: [ 0.00011046 -0.00411413 -0.00476369  0.99998018] +- [0.00026574 0.0000441  0.00004162]
    t: [0.1202559  0.06929945 0.0040623 ] +- [0.00002592 0.000026   0.00011789]

baseline T_3_2:
    q: [-0.0002727   0.00051767  0.00032298  0.99999978] +- [0.00034222 0.00003958 0.00003594]
    t: [-0.11997099 -0.00012981  0.0008342 ] +- [0.00002364 0.00002382 0.00010615]

baseline T_4_3:
    q: [0.00213377 0.00213316 0.00032322 0.9999954 ] +- [0.0002986  0.00003605 0.00003454]
    t: [0.08882695 0.00624419 0.00254076] +- [0.0000218  0.00002201 0.00010015]



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

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