Dong_Liu I would suggest ignoring the camera intrinsic from this and use the IMU extrinsics and other information for the usecase without affecting the EEPROM would be best.
As of Why. We calibrate the camera at full resolution in the factory so that it gets scaled well when used at different resolutions for stereo. So it might not be a good idea to mess with calibrated stereo I think.
Thoughts ?

      luxonis-Sachin The imu calibration from IMU to camera needs the cameras intrinsics. I will use the intrinsics from the eprom to calibrate the IMU. But can you confirm the eprom stored left right extrinsics calibration are wrong, that is the decimal points in t1 is wrong?

      Thanks.

          Dong_Liu DepthAi stores the calibration in cm units. I think it's in meters in Kalibr. you need to change the scale.