Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04611144  0.0775785   0.00036698 -0.00133726] +- [0.00115733 0.00241339 0.00010151 0.00009341]
    projection: [1031.18102119 1030.83691232  631.9231707   366.95610574] +- [0.13475344 0.12852216 0.00564363 0.09171785]
    reprojection error: [0.000148, -0.000089] +- [0.465604, 0.418664]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05115049  0.07954807  0.00185753 -0.00085896] +- [0.00126285 0.00277016 0.00010599 0.00008522]
    projection: [1030.15875285 1030.2579565   631.3861432   369.60814439] +- [0.15015511 0.14346932 0.0026636  0.09105898]
    reprojection error: [0.000225, -0.000091] +- [0.596908, 0.574551]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39653829  0.16370161 -0.00040434  0.00123175] +- [0.000638   0.00114764 0.00006921 0.00006386]
    projection: [1057.36745924 1057.69080723  669.43317543  337.45047254] +- [0.10681539 0.10305602 0.03243373 0.23795097]
    reprojection error: [0.000328, -0.000095] +- [0.196253, 0.175706]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39312525  0.15454431 -0.00056034  0.00184348] +- [0.00053401 0.00085141 0.00006926 0.00005386]
    projection: [1051.82876471 1052.7795664   666.25041435  330.21989705] +- [0.10770198 0.1030929  0.00762339 0.2277641 ]
    reprojection error: [0.000377, -0.000096] +- [0.217531, 0.181611]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4168483   0.19200443 -0.00035457  0.00060025] +- [0.00093237 0.00237612 0.00007298 0.00006252]
    projection: [1263.17619093 1263.27171197  647.81241892  370.14894155] +- [0.120487   0.11352512 0.02626188 0.11861291]
    reprojection error: [0.000168, -0.000175] +- [0.210847, 0.188277]

baseline T_1_0:
    q: [-0.00161031  0.00132788 -0.00028298  0.99999778] +- [0.00005453 0.00005011 0.00004667]
    t: [-0.12021897  0.0010254   0.00007386] +- [0.00003788 0.0000372  0.00012776]

baseline T_2_1:
    q: [-0.00011806 -0.00300518 -0.00506513  0.99998265] +- [0.00028938 0.00005496 0.00004415]
    t: [0.12027418 0.06903322 0.00386372] +- [0.00003378 0.00003299 0.000118  ]

baseline T_3_2:
    q: [ 0.00021389 -0.00278898  0.00020076  0.99999607] +- [0.00032145 0.00005166 0.00003489]
    t: [-0.12004999 -0.00010306  0.00148382] +- [0.00002577 0.00002338 0.00009476]

baseline T_4_3:
    q: [0.00156554 0.00594157 0.00052576 0.99998099] +- [0.0002845  0.00003499 0.00003438]
    t: [0.08890544 0.00615919 0.00301835] +- [0.0000242  0.00002196 0.00009003]



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

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