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@berak This makes sense, especially since the flag CV_CALIB_RATIONAL_MODEL decides if 5 or 8 parameters are used, so the overall mechanism simply does not cover a 4 parameter scenario. However, talking about the distortion coefficients with "4, 5, or 8 elements" is still a bit misleading. The only time I know of 4 distortion parameters being returned is with the fisheye calibration, but it has a separate documentation where the 4 distortion parameters are described.