Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0435413   0.08400601 -0.0003624   0.00014401] +- [0.00089144 0.00190007 0.00008303 0.00006668]
    projection: [1034.1062453  1034.11057937  638.35519987  360.26783939] +- [0.12034396 0.12129227 0.03457053 0.1611331 ]
    reprojection error: [-0.000100, 0.000022] +- [0.699313, 0.347247]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04606521  0.07556439  0.00087577  0.00076602] +- [0.00088979 0.00187006 0.00007324 0.00006435]
    projection: [1033.63490155 1033.75116493  639.07693333  364.12465405] +- [0.12262355 0.12194292 0.00834441 0.05356441]
    reprojection error: [-0.000025, 0.000045] +- [0.694595, 0.347914]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39091405  0.15268898  0.00005582  0.00035604] +- [0.0004612  0.00072102 0.00005802 0.00004429]
    projection: [1058.94251406 1059.07424911  674.56692548  335.57280023] +- [0.11030674 0.11206708 0.02326732 0.143751  ]
    reprojection error: [0.000167, -0.000147] +- [0.429477, 0.214149]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.38891948  0.14617245 -0.00030606  0.00108216] +- [0.00038922 0.00054036 0.00005539 0.00004317]
    projection: [1054.03474564 1054.49284375  671.30363727  328.77152798] +- [0.10625305 0.10955761 0.03136596 0.16087078]
    reprojection error: [0.000297, -0.000196] +- [0.443115, 0.202011]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4126933   0.18149362  0.0001166  -0.00012386] +- [0.00072684 0.00168318 0.00006205 0.00004676]
    projection: [1267.00289042 1266.96665102  653.83726937  366.64825182] +- [0.12225519 0.12128261 0.00272351 0.01392726]
    reprojection error: [0.000244, 0.000058] +- [0.501725, 0.336984]

baseline T_1_0:
    q: [-0.00078664  0.00110604 -0.00022606  0.99999905] +- [0.00015967 0.00005718 0.00003386]
    t: [-0.12018297  0.00095156 -0.00027058] +- [0.00003353 0.00003068 0.00011151]

baseline T_2_1:
    q: [-0.000548   -0.0051048  -0.00474674  0.99997555] +- [0.00012378 0.00004501 0.00003295]
    t: [0.12024835 0.06916419 0.00308775] +- [0.00003186 0.00002955 0.00011107]

baseline T_3_2:
    q: [-0.0003729   0.00028024  0.00033967  0.99999983] +- [0.0002368  0.00005843 0.00002979]
    t: [-0.12001218 -0.00008188  0.00073004] +- [0.00003016 0.00002767 0.00010561]

baseline T_4_3:
    q: [0.00242182 0.00259582 0.00029013 0.99999366] +- [0.00016192 0.00004861 0.00002933]
    t: [0.08886606 0.00621121 0.00326196] +- [0.00002771 0.0000263  0.00010295]



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

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