Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04941636  0.08178983 -0.0000582  -0.0001781 ] +- [0.001041   0.00238817 0.0000816  0.00005097]
    projection: [1031.36251068 1030.78952618  637.26408412  361.98841919] +- [0.13791997 0.14537049 0.00184319 0.09884325]
    reprojection error: [0.000207, -0.000008] +- [0.664866, 0.551497]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05472234  0.08197468  0.00087733  0.0007608 ] +- [0.00103286 0.00233256 0.0000808  0.00005147]
    projection: [1031.02877524 1030.23604974  639.24725777  364.25812599] +- [0.13930439 0.1461768  0.002258   0.10682414]
    reprojection error: [0.000189, -0.000053] +- [0.707128, 0.628203]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39850765  0.16820812  0.00012013  0.00025356] +- [0.0005576  0.00105321 0.00005452 0.00003092]
    projection: [1057.52090792 1057.40519649  677.5571956   334.73464168] +- [0.12837315 0.13186447 0.00884951 0.22187049]
    reprojection error: [0.000212, -0.000157] +- [0.192552, 0.165991]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39446382  0.15643768  0.00001961  0.00078667] +- [0.00043781 0.00070935 0.00005273 0.00003108]
    projection: [1052.08696961 1052.15969608  674.87377882  327.38632532] +- [0.12353595 0.12562212 0.0056424  0.21253646]
    reprojection error: [0.000281, -0.000211] +- [0.218501, 0.177603]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41812382  0.19328243  0.00026235 -0.00036289] +- [0.00077594 0.00202979 0.00005278 0.00003341]
    projection: [1263.54107808 1263.16870011  656.34536883  365.62726239] +- [0.1273478  0.13010426 0.00372214 0.11376348]
    reprojection error: [0.000110, -0.000031] +- [0.210774, 0.185494]

baseline T_1_0:
    q: [-0.00003892  0.00190004 -0.0003024   0.99999815] +- [0.00012285 0.00005944 0.00004195]
    t: [-0.12008191  0.00102988 -0.00048214] +- [0.0000303  0.00003103 0.00009304]

baseline T_2_1:
    q: [-0.00033207 -0.00370517 -0.00485432  0.9999813 ] +- [0.00027412 0.00005605 0.00003795]
    t: [0.12008028 0.06921603 0.00416029] +- [0.00002794 0.00002854 0.00009178]

baseline T_3_2:
    q: [-0.00008969  0.0001398   0.00038571  0.99999991] +- [0.00030609 0.00005002 0.00003287]
    t: [-0.12008148 -0.00010244  0.00036673] +- [0.00002575 0.00002545 0.00008709]

baseline T_4_3:
    q: [0.00217091 0.00228342 0.00029142 0.99999499] +- [0.00026422 0.00004556 0.00003163]
    t: [0.08890692 0.00620771 0.00312582] +- [0.00002402 0.0000236  0.00008177]



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

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