Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04615764  0.0816728   0.00000179 -0.0006529 ] +- [0.00095342 0.00205819 0.00008482 0.00005282]
    projection: [1033.96932043 1033.73045672  635.41880733  365.06039341] +- [0.13258981 0.13309646 0.00640439 0.20545518]
    reprojection error: [0.000354, 0.000108] +- [0.828292, 0.530086]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04754005  0.07643938  0.00208795  0.0000453 ] +- [0.00096664 0.00206386 0.00008266 0.00005783]
    projection: [1033.11454613 1033.14296044  635.98612158  371.3118031 ] +- [0.13643368 0.13734269 0.01087903 0.18031403]
    reprojection error: [0.000472, -0.000227] +- [0.801116, 0.549454]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39437529  0.15777161 -0.00046252  0.00058845] +- [0.00048062 0.00078044 0.00004803 0.00003219]
    projection: [1059.82157154 1060.14063952  673.26994811  340.48532827] +- [0.11475035 0.11619533 0.01569681 0.18462007]
    reprojection error: [0.000499, -0.000431] +- [0.408745, 0.266178]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39115607  0.14874087 -0.00053701  0.00120265] +- [0.00039384 0.00054779 0.00004756 0.00003568]
    projection: [1054.79301247 1055.50303513  672.34852361  330.91662823] +- [0.11281184 0.11566369 0.00818871 0.17677697]
    reprojection error: [0.000337, -0.000017] +- [0.417482, 0.266831]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41740286  0.19015788 -0.0003519   0.00008768] +- [0.00077719 0.00184281 0.00005189 0.00003854]
    projection: [1267.97577438 1268.04863081  653.55571875  373.38181194] +- [0.13516888 0.13258547 0.00414332 0.06231353]
    reprojection error: [-0.000062, -0.000349] +- [0.557144, 0.407138]

baseline T_1_0:
    q: [-0.00277476  0.00162257 -0.00041532  0.99999475] +- [0.00033155 0.00005321 0.00003674]
    t: [-0.12007655  0.00087446  0.00004232] +- [0.000032   0.00003047 0.00010085]

baseline T_2_1:
    q: [-0.00047297 -0.00371802 -0.00502258  0.99998036] +- [0.00029925 0.00005387 0.00003426]
    t: [0.12001191 0.06896064 0.00452625] +- [0.00003013 0.00002908 0.00009589]

baseline T_3_2:
    q: [ 0.0012901  -0.00104728  0.00015891  0.99999861] +- [0.00026019 0.00004817 0.00002915]
    t: [-0.12006061 -0.00012405  0.00095287] +- [0.00002729 0.00002609 0.00008602]

baseline T_4_3:
    q: [0.00061744 0.00455263 0.00042614 0.99998936] +- [0.00020072 0.00004206 0.00003017]
    t: [0.088899   0.00619342 0.00349201] +- [0.00002649 0.00002524 0.00009043]



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

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