Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04704677  0.08206422  0.00012868 -0.00203682] +- [0.00104929 0.00230174 0.00008514 0.00005452]
    projection: [1032.42443788 1030.94699971  631.20230459  363.30264672] +- [0.15184661 0.16391565 0.00543742 0.12990125]
    reprojection error: [0.000152, -0.000079] +- [0.475385, 0.372763]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0520274   0.08231713  0.00114129 -0.00093401] +- [0.00105752 0.00235277 0.00008276 0.00005447]
    projection: [1030.97096077 1029.9274685   631.62767462  365.73297913] +- [0.15649392 0.16947158 0.0060826  0.11728547]
    reprojection error: [0.000160, -0.000106] +- [0.489382, 0.390367]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.3928916   0.15627229 -0.00035599  0.00065398] +- [0.00051694 0.00086843 0.0000579  0.00003463]
    projection: [1059.1122614  1058.18378839  673.69057096  336.28991787] +- [0.14382279 0.14929563 0.00667382 0.23165567]
    reprojection error: [0.000221, -0.000183] +- [0.297687, 0.189908]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39072977  0.15026993 -0.00045358  0.00130342] +- [0.00045152 0.00068581 0.00005493 0.00003448]
    projection: [1053.76602026 1053.24912424  670.58820826  328.54266761] +- [0.14268073 0.15004579 0.01842546 0.22054442]
    reprojection error: [0.000231, -0.000185] +- [0.292417, 0.186634]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41510203  0.18645652  0.00012393  0.00001056] +- [0.00080481 0.00198968 0.00005796 0.00003925]
    projection: [1265.34201581 1263.72569643  652.56058684  366.52401563] +- [0.14113221 0.14801874 0.00679763 0.09832865]
    reprojection error: [0.000007, -0.000109] +- [0.243283, 0.200568]

baseline T_1_0:
    q: [-0.00072746  0.00179696 -0.00026868  0.99999808] +- [0.00013397 0.00004865 0.00004286]
    t: [-0.12009635  0.00097434 -0.00044348] +- [0.00003352 0.00003318 0.00014624]

baseline T_2_1:
    q: [-0.00002053 -0.00158083 -0.0047675   0.99998739] +- [0.00027949 0.00004379 0.00003943]
    t: [0.12041573 0.06924164 0.00535911] +- [0.00003073 0.00003156 0.00014402]

baseline T_3_2:
    q: [-0.00002901 -0.00122951  0.00033736  0.99999919] +- [0.00031436 0.00004511 0.00003362]
    t: [-0.11996595 -0.00008708  0.00096004] +- [0.00002791 0.00002828 0.00013639]

baseline T_4_3:
    q: [0.00237256 0.00379689 0.00024344 0.99998995] +- [0.00025856 0.00004217 0.00003339]
    t: [0.08859853 0.00623647 0.00260523] +- [0.00002561 0.00002622 0.00012598]



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

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