--- a/python/cvutils.py	Mon Jul 10 01:38:12 2017 -0400
+++ b/python/cvutils.py	Mon Jul 10 18:04:41 2017 -0400
@@ -122,9 +122,6 @@
 
     def computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients):
         newImgSize = (int(round(width*undistortedImageMultiplication)), int(round(height*undistortedImageMultiplication)))
-        #newCameraMatrix = deepcopy(intrinsicCameraMatrix)
-        #newCameraMatrix[0,2] = newImgSize[0]/2.
-        #newCameraMatrix[1,2] = newImgSize[1]/2.
         newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, newImgSize, True)
         return cv2.initUndistortRectifyMap(intrinsicCameraMatrix, array(distortionCoefficients), None, newCameraMatrix, newImgSize, cv2.CV_32FC1)
 
@@ -432,7 +429,7 @@
                     invMap2[y,x] = res[1]
         return invMap1, invMap2
 
-    def cameraIntrinsicCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False):
+    def intrinsicCameraCalibration(path, checkerBoardSize=[6,7], secondPassSearch=False, display=False, fixK2 = True, fixK3 = True, zeroTangent = True):
         ''' Camera calibration searches through all the images (jpg or png) located
         in _path_ for matches to a checkerboard pattern of size checkboardSize.
         These images should all be of the same camera with the same resolution.
@@ -491,10 +488,18 @@
         if len(objpoints) == 0 or len(imgpoints) == 0: 
             return None
         try:
-            ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
+            flags = 0
+            if fixK2:
+                flags += cv2.cv.CV_CALIB_FIX_K2
+            if fixK3:
+                flags += cv2.cv.CV_CALIB_FIX_K3
+            if zeroTangent:
+                flags += cv2.cv.CV_CALIB_ZERO_TANGENT_DIST
+            ret, camera_matrix, dist_coeffs, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None, flags = flags)
         except NameError:
             return None
         savetxt('intrinsic-camera.txt', camera_matrix)
+        print 'error: {}'.format(ret)
         return camera_matrix, dist_coeffs
 
     def undistortImage(img, intrinsicCameraMatrix = None, distortionCoefficients = None, undistortedImageMultiplication = 1., interpolation=cv2.INTER_LINEAR):