diff --git a/calibrate.py b/calibrate.py
index b64e179c6..e71ea6318 100755
--- a/calibrate.py
+++ b/calibrate.py
@@ -866,13 +866,13 @@ def calibrate(self):
             for camera in result_config['cameras'].keys():
                 cam_info = result_config['cameras'][camera]
                 # log_list.append(self.ccm_selected[cam_info['name']])
-                reprojection_error_threshold = 1.0
+                reprojection_error_threshold = 3.0
                 if cam_info['size'][1] > 720:
                     #print(cam_info['size'][1])
                     reprojection_error_threshold = reprojection_error_threshold * cam_info['size'][1] / 720
 
                 if cam_info['name'] == 'rgb':
-                    reprojection_error_threshold = 3
+                    reprojection_error_threshold = 6
                 print('Reprojection error threshold -> {}'.format(reprojection_error_threshold))
                 
                 if cam_info['reprojection_error'] > reprojection_error_threshold:
@@ -903,7 +903,7 @@ def calibrate(self):
                         right_cam = result_config['cameras'][cam_info['extrinsics']['to_cam']]['name']
                         left_cam = cam_info['name']
                         
-                        epipolar_threshold = 0.6
+                        epipolar_threshold = 1.2
 
                         if cam_info['extrinsics']['epipolar_error'] > epipolar_threshold:
                             color = red
diff --git a/depthai_helpers/calibration_utils.py b/depthai_helpers/calibration_utils.py
index 74984685d..d467b280a 100644
--- a/depthai_helpers/calibration_utils.py
+++ b/depthai_helpers/calibration_utils.py
@@ -483,10 +483,11 @@ def calibrate_camera_charuco(self, allCorners, allIds, imsize, hfov):
             print(cameraMatrixInit)
 
         distCoeffsInit = np.zeros((5, 1))
-        flags = (cv2.CALIB_USE_INTRINSIC_GUESS + 
+        flags_rational = (cv2.CALIB_USE_INTRINSIC_GUESS + 
                  cv2.CALIB_RATIONAL_MODEL)
+        flags_pinhole = (cv2.CALIB_USE_INTRINSIC_GUESS + cv2.CALIB_ZERO_TANGENT_DIST + cv2.CALIB_FIX_K1 + cv2.CALIB_FIX_K2 + cv2.CALIB_FIX_K3)
+        flags = flags_pinhole
 
-    #     flags = (cv2.CALIB_RATIONAL_MODEL)
         (ret, camera_matrix, distortion_coefficients,
          rotation_vectors, translation_vectors,
          stdDeviationsIntrinsics, stdDeviationsExtrinsics,