Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05041641  0.09101419 -0.00074185 -0.00161467] +- [0.00114385 0.0026444  0.00010074 0.00007647]
    projection: [1033.55774353 1031.89258948  632.18119829  358.82456763] +- [0.17613177 0.17528611 0.01150722 0.13919634]
    reprojection error: [0.000101, 0.000046] +- [0.442983, 0.356179]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05348142  0.08596382  0.00014243 -0.00055497] +- [0.00115447 0.00272966 0.00009658 0.0000729 ]
    projection: [1033.22781771 1032.05548869  631.84536312  360.7175681 ] +- [0.17423829 0.17034812 0.00514786 0.09018514]
    reprojection error: [0.000094, 0.000031] +- [0.424125, 0.356111]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.40027424  0.17056618  0.00048742  0.0007061 ] +- [0.00070508 0.00132854 0.00007462 0.00005182]
    projection: [1059.79844179 1058.7112854   673.38706828  331.65536461] +- [0.14821333 0.14596226 0.00982728 0.24632851]
    reprojection error: [0.000133, -0.000018] +- [0.165592, 0.139114]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.40030216  0.16639938  0.00036766  0.00133039] +- [0.00061653 0.00111413 0.00007439 0.00005144]
    projection: [1055.31586267 1054.64147499  670.80524708  324.51934033] +- [0.14600005 0.1426819  0.01764814 0.25248871]
    reprojection error: [0.000124, -0.000097] +- [0.164344, 0.139085]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.42058762  0.1968452   0.0008715   0.00028943] +- [0.00087901 0.00222023 0.0000733  0.00005488]
    projection: [1266.46261002 1264.85437605  649.09744217  363.35085318] +- [0.14793661 0.14449186 0.00575501 0.10809687]
    reprojection error: [-0.000106, 0.000071] +- [0.409614, 0.292943]

baseline T_1_0:
    q: [-0.00048981  0.00160476 -0.00019415  0.99999857] +- [0.00011539 0.0000596  0.00004605]
    t: [-0.12004827  0.00093651  0.00034862] +- [0.00004724 0.000046   0.00018975]

baseline T_2_1:
    q: [-0.00018827 -0.00233661 -0.00491059  0.9999852 ] +- [0.00026147 0.00005292 0.00004459]
    t: [0.11993327 0.06923301 0.00361434] +- [0.00004194 0.00003936 0.00016854]

baseline T_3_2:
    q: [-0.00024511 -0.0009529   0.0003964   0.99999944] +- [0.00035893 0.00004968 0.00003904]
    t: [-0.11990065 -0.000096    0.0013569 ] +- [0.00003438 0.00003128 0.0001426 ]

baseline T_4_3:
    q: [0.00168807 0.0024252  0.00020267 0.99999561] +- [0.00030201 0.00004489 0.00003688]
    t: [0.08881619 0.0062337  0.0023689 ] +- [0.00003113 0.00002886 0.00012901]



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

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