Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04512417  0.07964441  0.00088282 -0.00188746] +- [0.00103468 0.00204614 0.00011458 0.00008033]
    projection: [1032.96138833 1032.8263147   632.38290823  368.57212974] +- [0.12883756 0.14179352 0.0188061  0.14918888]
    reprojection error: [0.000004, -0.000083] +- [0.365700, 0.347291]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04921083  0.07831975  0.00197272 -0.00088872] +- [0.00102011 0.00203056 0.00011481 0.00008066]
    projection: [1032.26867081 1032.57448492  632.85489859  370.0490076 ] +- [0.12894556 0.1413507  0.01262151 0.14002356]
    reprojection error: [-0.000022, -0.000069] +- [0.432516, 0.413215]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39348399  0.15751421 -0.00037661  0.00061553] +- [0.00059837 0.00097443 0.00007422 0.00004936]
    projection: [1058.26520352 1058.49243286  673.42808987  337.91643305] +- [0.13033515 0.12987245 0.01593046 0.19595576]
    reprojection error: [0.000131, -0.000097] +- [0.200128, 0.171382]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39166569  0.1507151  -0.00052075  0.00119373] +- [0.00053211 0.00076491 0.0000736  0.00004973]
    projection: [1053.12162947 1053.72117453  671.16662029  330.74909932] +- [0.13257477 0.13318922 0.02918939 0.19227637]
    reprojection error: [0.000266, -0.000138] +- [0.214538, 0.175125]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41422259  0.18270239 -0.00028372  0.00021536] +- [0.00083491 0.00182285 0.00007979 0.00005397]
    projection: [1264.95812914 1264.98650426  650.66251521  370.67362908] +- [0.14336417 0.14436678 0.01890631 0.09101722]
    reprojection error: [0.000139, -0.000130] +- [0.238881, 0.235886]

baseline T_1_0:
    q: [-0.00102528  0.00186209 -0.0003497   0.99999768] +- [0.0002211  0.00006452 0.00004203]
    t: [-0.12013768  0.00103034  0.00046669] +- [0.00004623 0.00004522 0.00011824]

baseline T_2_1:
    q: [-0.00014659 -0.00189429 -0.00513507  0.99998501] +- [0.00027754 0.00005701 0.00004012]
    t: [0.11997377 0.06906854 0.00319349] +- [0.00004088 0.0000388  0.00012455]

baseline T_3_2:
    q: [ 0.00017232 -0.00246299  0.00022864  0.99999693] +- [0.00027991 0.00006132 0.00003258]
    t: [-0.12006288 -0.00007692  0.00115299] +- [0.00003488 0.00003107 0.00011509]

baseline T_4_3:
    q: [0.00162148 0.0048474  0.00040201 0.99998686] +- [0.00024101 0.00005783 0.00003205]
    t: [0.08891194 0.00614164 0.00335233] +- [0.00003155 0.00002895 0.00011325]



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

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