Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0485709   0.08682549 -0.0002699  -0.00056754] +- [0.00103569 0.00235976 0.00008917 0.00005798]
    projection: [1033.22946467 1032.37940162  637.14899526  359.16366857] +- [0.14657809 0.15262248 0.00608581 0.10351982]
    reprojection error: [0.000195, -0.000036] +- [0.434500, 0.398130]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05313583  0.08425457  0.00086073  0.00064893] +- [0.00101045 0.0022585  0.00008868 0.0000546 ]
    projection: [1032.7719854  1031.93236836  639.10742672  362.60248038] +- [0.14402661 0.15073124 0.00561509 0.11842715]
    reprojection error: [0.000169, -0.000062] +- [0.462674, 0.412125]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39980897  0.1711037   0.00054394 -0.0001217 ] +- [0.00061968 0.00122472 0.00006477 0.00003911]
    projection: [1058.92079902 1058.44572533  679.02889394  332.88134806] +- [0.1348284  0.13690931 0.01024417 0.23578131]
    reprojection error: [0.000121, -0.000100] +- [0.191030, 0.178663]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39820056  0.16265832  0.00045042  0.00056673] +- [0.00051346 0.00089458 0.00006213 0.0000351 ]
    projection: [1054.1980728  1053.88534494  675.64051577  325.23968865] +- [0.13144664 0.13666058 0.01258591 0.22391447]
    reprojection error: [0.000125, -0.000145] +- [0.199387, 0.179434]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41983376  0.19662196  0.00087533 -0.00064392] +- [0.0008358  0.0021892  0.00006484 0.00004023]
    projection: [1266.10199406 1265.1295111   657.93873946  362.98263614] +- [0.13963207 0.13996335 0.00324358 0.09662514]
    reprojection error: [-0.000047, -0.000046] +- [0.214807, 0.215962]

baseline T_1_0:
    q: [-0.00054919  0.00227043 -0.00022891  0.99999725] +- [0.00010785 0.00005723 0.00004117]
    t: [-0.12007048  0.00095088 -0.00051932] +- [0.00003837 0.00003708 0.00013433]

baseline T_2_1:
    q: [-0.00010448 -0.00312316 -0.00494183  0.99998291] +- [0.0002903  0.00005371 0.0000384 ]
    t: [0.12023085 0.06906789 0.00363918] +- [0.00003562 0.00003576 0.00012944]

baseline T_3_2:
    q: [-0.00000042  0.00003677  0.00040408  0.99999992] +- [0.00032671 0.00005353 0.00003394]
    t: [-0.11996243 -0.00007122  0.00062883] +- [0.00003315 0.00003283 0.00012815]

baseline T_4_3:
    q: [0.00216039 0.00233352 0.00023967 0.99999491] +- [0.00026223 0.00004919 0.00003207]
    t: [0.08880781 0.00624181 0.00341574] +- [0.00003152 0.0000308  0.00011861]



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

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