Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0477465   0.08092581  0.00017181 -0.00098288] +- [0.00106047 0.00242389 0.00008304 0.00005441]
    projection: [1032.42244264 1031.73367538  634.3332533   361.48503159] +- [0.13320456 0.13872407 0.00662268 0.12524466]
    reprojection error: [0.000086, -0.000009] +- [0.450206, 0.404349]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05454919  0.08672544  0.00125919  0.00005505] +- [0.00108325 0.00250312 0.00007962 0.00005333]
    projection: [1032.07945225 1031.79034034  635.84470787  364.40775356] +- [0.14666527 0.14945434 0.00399013 0.10024204]
    reprojection error: [0.000150, -0.000034] +- [0.481626, 0.446984]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39642062  0.1617453   0.00025797  0.00055138] +- [0.00054444 0.00098546 0.00005883 0.00003482]
    projection: [1058.5137246  1058.22678962  674.07306095  334.91462394] +- [0.11434146 0.11769677 0.00492142 0.24271918]
    reprojection error: [0.000232, -0.000113] +- [0.180147, 0.161935]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39570448  0.15834695  0.00014842  0.00103219] +- [0.00048387 0.0007973  0.00005271 0.00003364]
    projection: [1053.21688643 1053.2758901   672.73933711  327.08741436] +- [0.11762217 0.12022845 0.00550027 0.23576582]
    reprojection error: [0.000211, -0.000137] +- [0.193346, 0.159760]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41887837  0.19475166  0.00052888 -0.00010095] +- [0.00083321 0.00216506 0.00005818 0.00003842]
    projection: [1265.03812043 1264.38739423  653.51662644  365.03777541] +- [0.12228796 0.12252706 0.00343135 0.08468846]
    reprojection error: [0.000117, 0.000013] +- [0.176798, 0.158699]

baseline T_1_0:
    q: [-0.00053457  0.00216884 -0.00028481  0.99999746] +- [0.00008663 0.00004989 0.00004342]
    t: [-0.12016726  0.00096875 -0.00001222] +- [0.00003068 0.00003042 0.00011135]

baseline T_2_1:
    q: [ 0.00000124 -0.0039341  -0.00478967  0.99998079] +- [0.00027804 0.00004812 0.00004014]
    t: [0.1202754  0.06918197 0.0035827 ] +- [0.00002822 0.00002768 0.00010372]

baseline T_3_2:
    q: [0.00000279 0.00081104 0.00031937 0.99999962] +- [0.00033851 0.00004128 0.0000353 ]
    t: [-0.1200108  -0.00012394  0.00048819] +- [0.00002517 0.00002361 0.00009406]

baseline T_4_3:
    q: [0.00234009 0.002023   0.0003216  0.99999516] +- [0.00026553 0.00003952 0.00003459]
    t: [0.08885609 0.00620683 0.00302945] +- [0.00002431 0.0000218  0.00008876]



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

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