Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04730162  0.08000713  0.00045231 -0.00062545] +- [0.00098487 0.00207394 0.00009086 0.00007562]
    projection: [1032.17190373 1032.19800187  635.97300475  365.80364233] +- [0.1287226  0.13494064 0.00799185 0.14985896]
    reprojection error: [-0.000032, -0.000050] +- [0.376288, 0.325868]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.0535153   0.08145484  0.00139301  0.00035839] +- [0.00097953 0.00211997 0.00008888 0.00008271]
    projection: [1031.31292827 1031.54983795  638.53148226  368.44197347] +- [0.12839216 0.13323847 0.01087187 0.11552134]
    reprojection error: [-0.000001, -0.000069] +- [0.434294, 0.405806]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39466628  0.15863721 -0.00032256  0.00042768] +- [0.00054927 0.00095178 0.00006369 0.0000489 ]
    projection: [1058.80165879 1059.12973043  676.48003889  337.28600203] +- [0.11790314 0.12352331 0.015914   0.18382266]
    reprojection error: [0.000003, -0.000105] +- [0.210571, 0.164777]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39487291  0.15480927 -0.00038379  0.00082391] +- [0.00050316 0.00078558 0.00006279 0.00005294]
    projection: [1053.74726089 1054.41359713  675.10750417  329.04691339] +- [0.12401221 0.12834499 0.00926163 0.18805087]
    reprojection error: [-0.000006, -0.000044] +- [0.212893, 0.164688]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41275073  0.1797212   0.00016433 -0.00025056] +- [0.00076405 0.00180388 0.00006619 0.00005185]
    projection: [1262.48038393 1262.66408353  653.5584563   367.00943814] +- [0.1268454  0.13233828 0.00352205 0.05809598]
    reprojection error: [-0.000089, -0.000112] +- [0.398326, 0.299414]

baseline T_1_0:
    q: [-0.00104842  0.00233535 -0.00034797  0.99999666] +- [0.00017976 0.00005326 0.00003849]
    t: [-0.12035265  0.00094334 -0.00057849] +- [0.00003572 0.00003423 0.00011294]

baseline T_2_1:
    q: [-0.00051982 -0.00279165 -0.00525372  0.99998217] +- [0.00023261 0.00005148 0.00003649]
    t: [0.12012157 0.06919627 0.00468778] +- [0.00003203 0.00003096 0.00011227]

baseline T_3_2:
    q: [ 0.00062381 -0.00216125  0.00025189  0.99999744] +- [0.00027341 0.00004287 0.00003161]
    t: [-0.12008824 -0.00008102  0.00084938] +- [0.00002702 0.00002425 0.00010807]

baseline T_4_3:
    q: [0.00243446 0.00371077 0.00029798 0.99999011] +- [0.00021073 0.00003319 0.00003054]
    t: [0.08872362 0.00611168 0.00202311] +- [0.00002414 0.00002278 0.00010351]



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

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