Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04165452  0.07621236  0.00058955 -0.00151461] +- [0.00088379 0.00186162 0.00009892 0.00007421]
    projection: [1037.24321134 1036.88138558  633.36297798  365.19754371] +- [0.07274414 0.07755088 0.03464064 0.20140487]
    reprojection error: [0.000108, 0.000012] +- [0.314298, 0.290034]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04666126  0.07605365  0.00169855 -0.00024074] +- [0.0009685  0.00212168 0.00009592 0.00007933]
    projection: [1036.16175276 1036.18559699  635.59559667  368.07333459] +- [0.09231352 0.08537862 0.02161896 0.15841178]
    reprojection error: [0.000132, -0.000034] +- [0.350758, 0.328559]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39457437  0.15746355 -0.00002763  0.00063972] +- [0.00057441 0.00096123 0.00006754 0.00004775]
    projection: [1063.06953713 1062.82826405  673.78347956  337.25106623] +- [0.14205482 0.14416943 0.02661696 0.19402032]
    reprojection error: [0.000118, -0.000179] +- [0.188381, 0.150298]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39442492  0.15322736 -0.00012977  0.00123765] +- [0.00050353 0.00076911 0.00006537 0.0000524 ]
    projection: [1058.34730329 1058.63396112  671.45531236  329.15566514] +- [0.13483184 0.14118983 0.03556587 0.18187633]
    reprojection error: [0.000126, -0.000126] +- [0.207981, 0.162927]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41549554  0.18349788  0.00013463  0.00004864] +- [0.0007306  0.00168199 0.00006999 0.00005085]
    projection: [1270.65972499 1270.34115238  653.48454335  369.19216467] +- [0.09419692 0.09555841 0.01707815 0.09074577]
    reprojection error: [-0.000058, 0.000009] +- [0.170109, 0.165193]

baseline T_1_0:
    q: [-0.00112908  0.00232497 -0.0003736   0.99999659] +- [0.00030688 0.00007347 0.0000386 ]
    t: [-0.12025072  0.00091967 -0.00031381] +- [0.00004845 0.00004544 0.00010098]

baseline T_2_1:
    q: [-0.00064412 -0.00266381 -0.00513866  0.99998304] +- [0.00028506 0.00006148 0.00003651]
    t: [0.12034698 0.06912689 0.00399358] +- [0.00004561 0.00004476 0.00014192]

baseline T_3_2:
    q: [ 0.00052973 -0.00243622  0.00021776  0.99999687] +- [0.00027062 0.00006341 0.00003144]
    t: [-0.12010729 -0.00000962  0.00149645] +- [0.00004164 0.00004004 0.00014923]

baseline T_4_3:
    q: [0.00156362 0.00533756 0.00039152 0.99998446] +- [0.00021352 0.00005991 0.00003017]
    t: [0.08884395 0.00615082 0.00324217] +- [0.00003822 0.00003813 0.00013013]



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

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