# MLCameraIntrinsicCalibrationParameters high reprojection error

**URL:** <https://forum.magicleap.cloud/t/mlcameraintrinsiccalibrationparameters-high-reprojection-error/4689>\
**Category:** Native Development\
**Tags:** unity, camera\
**Created:** [November 29, 2024, 7:21pm UTC](https://forum.magicleap.cloud/t/mlcameraintrinsiccalibrationparameters-high-reprojection-error/4689 "2024-11-29T19:21:49Z")\
**Posts on this page:** 1\
**Showing post:** 4

<div class="post-metadata">

**Author:** ![LeapFrog](https://sea1.discourse-cdn.com/flex019/user_avatar/forum.magicleap.cloud/leapfrog/32/2247_2.png) [@LeapFrog](https://forum.magicleap.cloud/u/LeapFrog)\
**Post date:** [December 4, 2024, 8:43am UTC](https://forum.magicleap.cloud/t/mlcameraintrinsiccalibrationparameters-high-reprojection-error/4689/4 "2024-12-04T08:43:02Z")

</div>

Hi Adam,

thanks for the info !

FYI: I used the CV/RGB camera at fullres with the MLCameraOutputFormat\_YUV\_420\_888 format and processed only the luminance plane.

But meanwhile i switched to the World Cameras for which i found some Python code in a forum post: [Undistorting World Camera and Depth Camera Images](https://forum.magicleap.cloud/t/undistorting-world-camera-and-depth-camera-images/3312)

For the CV/RGB camera the Magic Leap API docs provide a non-iterative undistort function (UndistortViewportPoint) [Intrinsic/Extrinsic Parameters](https://developer-docs.magicleap.cloud/docs/guides/unity/camera/ml-camera-metadata) which seems to contradict the iterative approach used by OpenCV (and the World Camera).

Cheers

---

_[View the full topic](https://forum.magicleap.cloud/t/mlcameraintrinsiccalibrationparameters-high-reprojection-error/4689)._