Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05093798  0.08881425 -0.00061596 -0.00133413] +- [0.00101299 0.00229162 0.00009237 0.00005926]
    projection: [1030.50264615 1029.70020336  635.01492542  358.49225262] +- [0.11849262 0.13354615 0.00675033 0.19421728]
    reprojection error: [0.000280, 0.000019] +- [0.424092, 0.355516]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05550998  0.08660342  0.00062759  0.00034794] +- [0.0010344  0.00227095 0.00008574 0.00006937]
    projection: [1030.60407107 1030.17429737  636.95552131  362.92223123] +- [0.12472672 0.13539835 0.00730196 0.04092161]
    reprojection error: [0.000219, 0.000042] +- [0.411873, 0.356836]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39976472  0.17241433  0.00043147 -0.0000574 ] +- [0.00063139 0.0012749  0.00006772 0.00004046]
    projection: [1055.9230872  1055.79362068  676.71192483  332.66151396] +- [0.10748206 0.11873706 0.01725242 0.22256437]
    reprojection error: [0.000182, 0.000068] +- [0.184751, 0.153219]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39582656  0.15832577  0.00027703  0.00033518] +- [0.00050569 0.00079727 0.0000642  0.00004784]
    projection: [1051.22572485 1051.3014088   675.67446067  325.22390443] +- [0.10944619 0.11547402 0.00711053 0.23025097]
    reprojection error: [0.000113, 0.000041] +- [0.218055, 0.161412]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41859088  0.1959396   0.00060155 -0.0007538 ] +- [0.0008534  0.00229637 0.00006383 0.0000435 ]
    projection: [1261.90678372 1261.29627325  656.93308497  363.98400118] +- [0.11159687 0.11999288 0.00408551 0.06120933]
    reprojection error: [-0.000076, 0.000051] +- [0.194567, 0.171182]

baseline T_1_0:
    q: [-0.00060525  0.00324796 -0.00018621  0.99999452] +- [0.0001769  0.00003911 0.00004315]
    t: [-0.12024293  0.00095027 -0.00002534] +- [0.00002517 0.00002556 0.00009133]

baseline T_2_1:
    q: [-0.0002624  -0.00428659 -0.00482535  0.99997914] +- [0.0002187  0.00004048 0.00004131]
    t: [0.12027886 0.06919154 0.00301172] +- [0.00002357 0.00002385 0.00008897]

baseline T_3_2:
    q: [-0.00018863  0.0011066   0.00041025  0.99999929] +- [0.00035008 0.00003875 0.00003766]
    t: [-0.12011168 -0.00009287  0.00072298] +- [0.00002174 0.00002136 0.00008452]

baseline T_4_3:
    q: [0.00189059 0.00196385 0.00028102 0.99999624] +- [0.00024958 0.00003116 0.00003627]
    t: [0.08894328 0.00618345 0.00283877] +- [0.0000205  0.00001934 0.00007751]



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

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