Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05220203  0.08858383 -0.00006036 -0.0004581 ] +- [0.00112853 0.00268699 0.00008257 0.00004999]
    projection: [1032.09929551 1031.39209583  636.47636903  361.12220067] +- [0.15089396 0.14862461 0.00647575 0.06247333]
    reprojection error: [-0.000044, -0.000001] +- [0.591686, 0.522502]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05764699  0.08742015  0.0008705   0.00097248] +- [0.00110615 0.00251694 0.00008602 0.00005077]
    projection: [1031.57914607 1031.0377026   639.24448554  364.29600843] +- [0.16605527 0.16267572 0.00670985 0.08118039]
    reprojection error: [0.000045, -0.000016] +- [0.640947, 0.576805]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39951658  0.17068582  0.00027609  0.00017693] +- [0.00057428 0.00114899 0.0000555  0.00003004]
    projection: [1057.86857168 1057.76325541  678.48718136  333.83240056] +- [0.1289435  0.12602268 0.04541559 0.23682031]
    reprojection error: [0.000096, -0.000015] +- [0.177001, 0.160795]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39477275  0.15729816  0.00015809  0.00073495] +- [0.00044847 0.00074009 0.00005135 0.0000312 ]
    projection: [1052.4402019  1052.50035135  675.80280453  326.38308762] +- [0.13819519 0.13339781 0.02908265 0.24343497]
    reprojection error: [0.000108, -0.000048] +- [0.211654, 0.176854]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41817867  0.19325443  0.00041248 -0.00038386] +- [0.00073969 0.00193265 0.00005364 0.0000326 ]
    projection: [1263.80029715 1263.33722497  656.43049364  364.93639743] +- [0.13684546 0.1331824  0.03138036 0.17974817]
    reprojection error: [0.000058, -0.000023] +- [0.194516, 0.176621]

baseline T_1_0:
    q: [-0.00061432  0.00294653 -0.00025992  0.99999544] +- [0.00011388 0.00006815 0.00004518]
    t: [-0.12011853  0.00092495 -0.0005678 ] +- [0.00003509 0.00003306 0.00011846]

baseline T_2_1:
    q: [ 0.0005039  -0.00372038 -0.00482308  0.99998132] +- [0.00024585 0.00007863 0.00004124]
    t: [0.12019771 0.06917936 0.00403851] +- [0.00003201 0.00003112 0.00011016]

baseline T_3_2:
    q: [-0.00018236  0.00049791  0.0003545   0.9999998 ] +- [0.00033538 0.00007674 0.00003521]
    t: [-0.11996185 -0.00011313  0.00023493] +- [0.00002786 0.00002686 0.00009516]

baseline T_4_3:
    q: [0.00202262 0.00150374 0.00029379 0.99999678] +- [0.00033171 0.00006523 0.00003399]
    t: [0.088834   0.00621991 0.00303376] +- [0.00002711 0.00002566 0.00009432]



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

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