Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04357214  0.07965403 -0.00053649 -0.00052506] +- [0.00106107 0.00232268 0.00010289 0.00006144]
    projection: [1033.39370725 1031.9143859   636.02701332  359.2474613 ] +- [0.06182903 0.06309667 0.02626319 0.26164531]
    reprojection error: [0.000035, 0.000111] +- [0.554096, 0.431751]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04957922  0.08010054  0.00063286  0.00065099] +- [0.00108462 0.00242293 0.00010196 0.00006286]
    projection: [1032.16627257 1030.86961564  636.63418984  362.53652701] +- [0.11294503 0.11591934 0.01718093 0.24897422]
    reprojection error: [0.000032, 0.000011] +- [0.558202, 0.444654]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39658729  0.16509532  0.00012936  0.00041478] +- [0.0006215  0.00117884 0.00006075 0.0000415 ]
    projection: [1059.60070175 1058.64225845  676.12198996  333.10060755] +- [0.17669473 0.18476762 0.03039841 0.22738485]
    reprojection error: [0.000019, -0.000092] +- [0.165372, 0.148391]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39445609  0.15664605  0.00006716  0.00115353] +- [0.00051148 0.00082647 0.00005989 0.0000406 ]
    projection: [1054.96440911 1054.33606056  672.03182071  325.16204643] +- [0.1777112  0.18513598 0.02224113 0.22506935]
    reprojection error: [0.000007, -0.000022] +- [0.182112, 0.148563]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41285396  0.18058514  0.00091666  0.00017712] +- [0.00079478 0.0019811  0.0000651  0.00004357]
    projection: [1265.55870118 1264.34662721  649.27761928  359.29828652] +- [0.15067502 0.1560026  0.02648167 0.2401756 ]
    reprojection error: [-0.000070, 0.000041] +- [0.585595, 0.449877]

baseline T_1_0:
    q: [-0.00108113  0.00187879 -0.00017192  0.99999764] +- [0.00037035 0.00007446 0.00004221]
    t: [-0.12014566  0.00090839 -0.00109686] +- [0.00005193 0.00005427 0.00011968]

baseline T_2_1:
    q: [ 0.00002598 -0.00311699 -0.00511776  0.99998205] +- [0.00034669 0.00007715 0.00003934]
    t: [0.12007045 0.06915915 0.00463539] +- [0.00004905 0.00004964 0.00017718]

baseline T_3_2:
    q: [ 0.00007916 -0.00156439  0.00042784  0.99999868] +- [0.00031628 0.0000791  0.00003402]
    t: [-0.11986758 -0.00007581  0.00122642] +- [0.00004476 0.00004132 0.00020478]

baseline T_4_3:
    q: [0.00364354 0.00179583 0.00012872 0.99999174] +- [0.00032479 0.00006323 0.0000332 ]
    t: [0.08869088 0.00623717 0.00218575] +- [0.00003952 0.00003819 0.00019209]



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

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