Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04676935  0.08173436  0.00005151 -0.00065591] +- [0.00104674 0.00235368 0.0000782  0.00005762]
    projection: [1032.02301691 1031.92283509  635.79846694  363.79830416] +- [0.12254068 0.12402816 0.00785501 0.12361702]
    reprojection error: [0.000159, -0.000084] +- [0.350012, 0.331431]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05309921  0.08344803  0.0010687   0.00028115] +- [0.00105799 0.00239943 0.00007804 0.000057  ]
    projection: [1031.49412912 1031.36825419  637.21356149  365.77813682] +- [0.12921503 0.12784965 0.00192819 0.10467252]
    reprojection error: [0.000144, -0.000050] +- [0.478875, 0.442755]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39396683  0.158031    0.0000027   0.00053553] +- [0.00051668 0.00087636 0.00005626 0.00003719]
    projection: [1058.17447808 1058.44701136  675.57043796  334.66060985] +- [0.09958626 0.10160433 0.00883502 0.22271689]
    reprojection error: [0.000182, -0.000053] +- [0.212360, 0.192125]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.3937252   0.155154   -0.00016655  0.00115598] +- [0.00047201 0.00076824 0.0000575  0.00003806]
    projection: [1053.2183778  1053.7504045   672.97896171  327.64069848] +- [0.0987601  0.09834436 0.01609245 0.21796785]
    reprojection error: [0.000182, -0.000112] +- [0.223557, 0.195907]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41735219  0.19227106  0.00013879 -0.00000638] +- [0.00082961 0.00210651 0.00006058 0.00004256]
    projection: [1264.56332598 1264.60474381  653.87450245  366.6287892 ] +- [0.1116869  0.10872203 0.00945873 0.06480265]
    reprojection error: [0.000036, -0.000038] +- [0.237783, 0.239913]

baseline T_1_0:
    q: [-0.00073096  0.00194274 -0.00026879  0.99999781] +- [0.00007319 0.00004041 0.0000408 ]
    t: [-0.12024336  0.00093071 -0.00031356] +- [0.0000267  0.0000265  0.00010324]

baseline T_2_1:
    q: [-0.00045546 -0.00287143 -0.00521593  0.99998217] +- [0.00027025 0.00003704 0.0000384 ]
    t: [0.12014621 0.06920065 0.00437771] +- [0.0000238  0.00002368 0.0000938 ]

baseline T_3_2:
    q: [ 0.00006107 -0.0022131   0.00028668  0.99999751] +- [0.00031188 0.00003588 0.00003363]
    t: [-0.12000993 -0.00009805  0.00087955] +- [0.00002001 0.00001977 0.00007814]

baseline T_4_3:
    q: [0.00183254 0.00460027 0.00033508 0.99998768] +- [0.00023901 0.00003532 0.00003354]
    t: [0.08883028 0.00618187 0.00321304] +- [0.00001869 0.0000181  0.00007704]



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

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