Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04364643  0.07180625  0.00092213 -0.00042403] +- [0.00100824 0.00211497 0.00009725 0.00007647]
    projection: [1031.96208381 1031.83221391  637.97533213  367.507214  ] +- [0.13843153 0.13789303 0.03517469 0.20928276]
    reprojection error: [-0.000068, -0.000071] +- [0.517919, 0.470345]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04709002  0.06717322  0.00200528  0.00051354] +- [0.00108227 0.00221794 0.0000964  0.00007765]
    projection: [1031.19326792 1030.99426672  639.38951597  368.77569497] +- [0.14937266 0.15021601 0.01086162 0.20352579]
    reprojection error: [-0.000077, -0.000111] +- [0.655567, 0.596429]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39440555  0.15840272 -0.00016896  0.00010441] +- [0.00054227 0.0009562  0.00005898 0.00004993]
    projection: [1056.89258505 1057.26495784  678.63918609  337.36566296] +- [0.1103255  0.11036885 0.01727472 0.1832257 ]
    reprojection error: [-0.000012, -0.000157] +- [0.202692, 0.176037]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39183209  0.15139664 -0.00024058  0.00053019] +- [0.00048702 0.00076653 0.0000595  0.00005052]
    projection: [1051.42556174 1051.85920994  679.12359245  329.25425525] +- [0.10683181 0.11087046 0.02620999 0.17527202]
    reprojection error: [0.000031, -0.000115] +- [0.223535, 0.189022]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41267929  0.17743308 -0.00024559 -0.00056937] +- [0.00099427 0.00262655 0.00007113 0.0000544 ]
    projection: [1262.82852152 1262.48244309  656.486549    370.36968122] +- [0.13398947 0.13847455 0.00344356 0.03555188]
    reprojection error: [-0.000008, -0.000170] +- [0.494746, 0.540805]

baseline T_1_0:
    q: [-0.00091683  0.00212089 -0.00040065  0.99999725] +- [0.00035178 0.00006161 0.00004004]
    t: [-0.12025646  0.00092706 -0.00053117] +- [0.00003248 0.00003045 0.00011153]

baseline T_2_1:
    q: [-0.00027891 -0.0022866  -0.00513737  0.99998415] +- [0.00032007 0.00004428 0.00003614]
    t: [0.120181   0.06914301 0.00383756] +- [0.00002886 0.00002636 0.00009863]

baseline T_3_2:
    q: [ 0.00061205 -0.00106299  0.00020494  0.99999923] +- [0.00026321 0.00004482 0.0000297 ]
    t: [-0.12009721 -0.00011986  0.00009049] +- [0.0000232  0.00002018 0.00008033]

baseline T_4_3:
    q: [0.00102616 0.003229   0.00042106 0.99999417] +- [0.00018654 0.00004555 0.00003361]
    t: [0.08890122 0.00619542 0.00367307] +- [0.00002368 0.00002116 0.0000812 ]



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

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