Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04860995  0.08004534 -0.00005034 -0.00010072] +- [0.00106841 0.00239458 0.00007804 0.00005199]
    projection: [1031.84451295 1031.07421131  636.89695402  362.74148482] +- [0.14406429 0.15512262 0.0045717  0.09905534]
    reprojection error: [0.000040, -0.000107] +- [0.652671, 0.591296]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05384812  0.08104977  0.0015166   0.00078297] +- [0.00104254 0.00235111 0.00007774 0.00005059]
    projection: [1031.8604987  1031.51113092  638.91854477  366.18081054] +- [0.14042292 0.15252699 0.00553696 0.09481518]
    reprojection error: [0.000100, -0.000105] +- [0.683031, 0.663402]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39620703  0.16260595  0.00009033  0.0003219 ] +- [0.00053088 0.00096688 0.00005213 0.00003173]
    projection: [1058.13242746 1058.18061626  677.15051536  335.46177943] +- [0.1273649  0.13151388 0.01810562 0.23192719]
    reprojection error: [0.000199, -0.000101] +- [0.197912, 0.173553]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39461591  0.15610626  0.00005469  0.00081943] +- [0.00043731 0.00072337 0.00005151 0.00003168]
    projection: [1053.13361927 1053.36425791  673.52095113  327.53937618] +- [0.12273198 0.12662385 0.00784866 0.22194676]
    reprojection error: [0.000270, -0.000064] +- [0.226174, 0.192397]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41722472  0.19134924  0.00005799 -0.00024211] +- [0.00079366 0.00209397 0.00005143 0.00003485]
    projection: [1264.25045426 1264.06024062  655.25217949  367.25081746] +- [0.12900376 0.13022731 0.0052327  0.11600453]
    reprojection error: [0.000162, -0.000156] +- [0.202585, 0.176507]

baseline T_1_0:
    q: [-0.0004853   0.00171304 -0.00034036  0.99999836] +- [0.00010037 0.00004938 0.00004324]
    t: [-0.12012439  0.00086338 -0.00006289] +- [0.00002573 0.00002742 0.00009771]

baseline T_2_1:
    q: [ 0.00020446 -0.0035016  -0.00482936  0.99998219] +- [0.0002698  0.00004897 0.00003999]
    t: [0.1200365  0.069241   0.00406139] +- [0.00002329 0.00002454 0.0000922 ]

baseline T_3_2:
    q: [ 0.00016655 -0.00054577  0.00031339  0.99999979] +- [0.00031501 0.00004634 0.00003342]
    t: [-0.11998254 -0.0000887   0.0006172 ] +- [0.00002085 0.00002063 0.00008459]

baseline T_4_3:
    q: [0.00162431 0.00267377 0.0003354  0.99999505] +- [0.00027008 0.00003564 0.00003169]
    t: [0.08883362 0.00618312 0.00289253] +- [0.00001914 0.00001923 0.00008025]



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

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