Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.03648774  0.07227954  0.0006953   0.00006361] +- [0.00094417 0.00195984 0.00008156 0.00005905]
    projection: [1034.39696079 1034.73607278  636.27410756  364.73952748] +- [0.13026619 0.13213605 0.02729322 0.16338287]
    reprojection error: [0.000088, 0.000009] +- [0.663666, 0.391673]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04557034  0.07839168  0.00152212  0.00125539] +- [0.00101105 0.00221065 0.00007236 0.00005681]
    projection: [1034.61302587 1034.83604567  638.12992827  366.88002829] +- [0.1302985  0.1278338  0.00567424 0.04878974]
    reprojection error: [0.000087, -0.000025] +- [0.644019, 0.397439]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39302515  0.15568976 -0.00034827  0.00040482] +- [0.0004912  0.00080301 0.00004744 0.0000368 ]
    projection: [1060.9212873  1060.80047152  673.20501251  338.69126206] +- [0.11583664 0.11812346 0.01724906 0.15544996]
    reprojection error: [0.000153, -0.000277] +- [0.387787, 0.227729]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39084134  0.14891329 -0.0006863   0.0011008 ] +- [0.00042998 0.00063442 0.00004763 0.00003564]
    projection: [1055.83693309 1056.21141254  670.9513347   331.83778279] +- [0.11080806 0.11183083 0.02565251 0.16423977]
    reprojection error: [0.000118, -0.000389] +- [0.386379, 0.221373]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41333594  0.18090805 -0.00002799 -0.00003785] +- [0.00075876 0.00174582 0.00005475 0.00004117]
    projection: [1269.24837363 1269.16020362  650.94892772  368.38236713] +- [0.13013716 0.13013354 0.00794407 0.03613636]
    reprojection error: [0.000031, 0.000156] +- [0.463241, 0.361881]

baseline T_1_0:
    q: [ 0.00006839  0.00175513 -0.00033319  0.9999984 ] +- [0.00016805 0.00005486 0.00003368]
    t: [-0.1201794   0.00091033 -0.00043059] +- [0.00003719 0.00003538 0.0001153 ]

baseline T_2_1:
    q: [-0.00064548 -0.00578264 -0.00445913  0.99997313] +- [0.00015042 0.00004652 0.00003273]
    t: [0.11984202 0.06918972 0.00333159] +- [0.00003559 0.00003316 0.00011354]

baseline T_3_2:
    q: [-0.00035866  0.00084736  0.00028377  0.99999954] +- [0.00025136 0.00005346 0.00002775]
    t: [-0.1201081  -0.00009281  0.00079712] +- [0.00003422 0.00003027 0.00010847]

baseline T_4_3:
    q: [0.00324694 0.00153361 0.00034402 0.99999349] +- [0.00017482 0.00004793 0.00002835]
    t: [0.08897331 0.00608356 0.00313733] +- [0.00003116 0.00002872 0.00010598]



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

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