Calibration results 
====================
Camera-system parameters:
cam0 (/prophesee/left/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.04332619  0.08015839  0.00087944 -0.00262166] +- [0.00089989 0.00188903 0.00006867 0.00005363]
    projection: [1037.19386674 1035.8444213   629.4409195   368.0727264 ] +- [0.14561402 0.14406745 0.01422642 0.12631001]
    reprojection error: [0.000144, -0.000047] +- [0.543766, 0.390035]

cam1 (/prophesee/right/events):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.05046901  0.08585596  0.00154455 -0.00170228] +- [0.00093541 0.00206198 0.00006597 0.00005238]
    projection: [1036.12637943 1035.52022498  630.28001113  370.22438737] +- [0.14522637 0.14173541 0.00357508 0.08989661]
    reprojection error: [0.000219, -0.000099] +- [0.555838, 0.422088]

cam2 (/ovc/left/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39542241  0.15910193 -0.00034525  0.00094654] +- [0.00047127 0.00077133 0.00004308 0.00003231]
    projection: [1060.39769654 1059.93777779  669.0410687   338.0955079 ] +- [0.1159054  0.11735183 0.00688071 0.1817944 ]
    reprojection error: [0.000234, -0.000284] +- [0.294048, 0.187793]

cam3 (/ovc/right/image_mono/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.39361678  0.15293569 -0.00051063  0.00163048] +- [0.00040542 0.00061446 0.00004228 0.00003279]
    projection: [1055.69657808 1056.03278964  666.291421    331.25697121] +- [0.11196446 0.11195401 0.01824166 0.17793396]
    reprojection error: [0.000230, -0.000431] +- [0.317601, 0.213472]

cam4 (/ovc/rgb/image_color/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.41736733  0.18973967 -0.00017076  0.0006983 ] +- [0.00073405 0.00173284 0.00004667 0.00003634]
    projection: [1268.42715892 1267.76982675  644.72355796  369.30530722] +- [0.12945389 0.12912124 0.0039586  0.05628132]
    reprojection error: [0.000122, 0.000027] +- [0.394403, 0.323104]

baseline T_1_0:
    q: [-0.00073641  0.0015364  -0.00038182  0.99999848] +- [0.00011958 0.00006385 0.00003469]
    t: [-0.12017793  0.00094723  0.00033655] +- [0.0000415  0.00003862 0.00013079]

baseline T_2_1:
    q: [-0.00007902 -0.00256592 -0.0051053   0.99998367] +- [0.00022265 0.00005051 0.00003304]
    t: [0.11991525 0.06929575 0.00207649] +- [0.00003504 0.00003299 0.00011634]

baseline T_3_2:
    q: [-0.00007065 -0.00271101  0.00016073  0.99999631] +- [0.00025716 0.00004849 0.00002831]
    t: [-0.12001603 -0.00008238  0.00193906] +- [0.00002926 0.00002551 0.00009092]

baseline T_4_3:
    q: [0.00251648 0.00451104 0.00044551 0.99998656] +- [0.00020052 0.00004343 0.00002811]
    t: [0.08890949 0.00615432 0.00269226] +- [0.00002625 0.00002416 0.00008944]



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

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