diff --git a/CMakeLists.txt b/CMakeLists.txt
index 124b8c9e0..17b0d5fbb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -98,6 +98,7 @@ if(VLIB_FORCESLIM)
   set(prophesee_core_FOUND OFF)
 endif()
 
+option(BUILD_ZYNQGRABBER "Build the zynqGrabber module" ON)
 add_subdirectory(cpp_tools)
 
 #install the package
diff --git a/cpp_tools/CMakeLists.txt b/cpp_tools/CMakeLists.txt
index d981e6e37..0dcf42754 100755
--- a/cpp_tools/CMakeLists.txt
+++ b/cpp_tools/CMakeLists.txt
@@ -1,4 +1,6 @@
-add_subdirectory(zynqGrabber)
+if(BUILD_ZYNQGRABBER)
+  add_subdirectory(zynqGrabber)
+endif()
 add_subdirectory(hexViewer)
 
 #add_subdirectory(binaryDumper)
diff --git a/ev2/event-driven/vis/IPT.cpp b/ev2/event-driven/vis/IPT.cpp
index 442d686a4..1bf63a7e4 100644
--- a/ev2/event-driven/vis/IPT.cpp
+++ b/ev2/event-driven/vis/IPT.cpp
@@ -62,6 +62,9 @@ bool vIPT::importIntrinsics(int cam, Bottle &parameters)
     cam_matrix[cam].at<double>(2, 2) = 1.0;
     cam_matrix[cam].at<double>(0, 2) = parameters.find("cx").asFloat64();
     cam_matrix[cam].at<double>(1, 2) = parameters.find("cy").asFloat64();
+    if(cam == 0) {
+        distortion_model = parameters.find("distortion_model").asString();
+    }
 
     dist_coeff[cam] = cv::Mat(4, 1, CV_64FC1);
     dist_coeff[cam].at<double>(0, 0) = parameters.find("k1").asFloat64();
@@ -104,9 +107,19 @@ bool vIPT::computeForwardReverseMaps(int cam)
     mat_reverse_map[cam] = cv::Mat(size_shared, CV_32FC2);
 
     //mat_reverse_map fill
-    cv::initUndistortRectifyMap(cam_matrix[cam], dist_coeff[cam], rotation[cam],
-                                projection[cam], size_shared, CV_32FC2,
-                                mat_reverse_map[cam], cv::noArray());
+
+    if(distortion_model == "b'radtan'") {
+        cv::initUndistortRectifyMap(cam_matrix[cam], dist_coeff[cam], rotation[cam],
+                                    projection[cam], size_shared, CV_32FC2,
+                                    mat_reverse_map[cam], cv::noArray());
+    } else if (distortion_model == "equidistant") {
+        std::vector<cv::Mat> maps(2);
+        cv::split(mat_reverse_map[cam], maps);
+        cv::fisheye::initUndistortRectifyMap(cam_matrix[cam], dist_coeff[cam], rotation[cam],
+                                    projection[cam], size_shared, CV_32F,
+                                    maps[0], maps[1]);
+        cv::merge(maps, mat_reverse_map[cam]);
+    }
 
     if(mat_reverse_map[cam].empty()) {
         yError() << "Camera Calibration failed";
@@ -164,6 +177,20 @@ const cv::Mat& vIPT::getQ(){
     return Q;
 }
 
+const cv::Mat& vIPT::getK(int cam) {
+    if(cam == 1) {
+        return cam_matrix[1];
+    }
+    return cam_matrix[0];
+}
+
+const cv::Size& vIPT::getRes(int cam) {
+    if(cam == 1) {
+        return size_cam[1];
+    }
+    return size_cam[0];
+}
+
 bool vIPT::configure(const string &calib_file_path, int size_scaler)
 
 {
@@ -192,12 +219,19 @@ bool vIPT::configure(const string &calib_file_path, int size_scaler)
         //compute stereo + rectification
 
         Q = cv::Mat(4, 4, CV_64FC1);
-
         //Computing homographies for left and right image
-        cv::stereoRectify(cam_matrix[0], dist_coeff[0], cam_matrix[1],
-                dist_coeff[1], size_cam[0], stereo_rotation, stereo_translation,
-                rotation[0], rotation[1], projection[0],projection[1], Q,
-                CALIB_ZERO_DISPARITY, 1, size_shared);
+        if(distortion_model == "b'radtan'") {
+            cv::stereoRectify(cam_matrix[0], dist_coeff[0], cam_matrix[1],
+                    dist_coeff[1], size_cam[0], stereo_rotation, stereo_translation,
+                    rotation[0], rotation[1], projection[0],projection[1], Q,
+                    CALIB_ZERO_DISPARITY, 1, size_shared);
+        }
+        else if(distortion_model == "equidistant") {
+            cv::fisheye::stereoRectify(cam_matrix[0], dist_coeff[0], cam_matrix[1],
+                    dist_coeff[1], size_cam[0], stereo_rotation, stereo_translation,
+                    rotation[0], rotation[1], projection[0],projection[1], Q,
+                    CALIB_ZERO_DISPARITY, size_shared);
+        }
 
     } else {
         if(valid_cam1)
diff --git a/ev2/event-driven/vis/IPT.h b/ev2/event-driven/vis/IPT.h
index a817d9637..b4a77413e 100644
--- a/ev2/event-driven/vis/IPT.h
+++ b/ev2/event-driven/vis/IPT.h
@@ -36,6 +36,7 @@ class vIPT {
     cv::Mat projection[2];
     cv::Mat rotation[2];
     cv::Mat Q;
+    std::string distortion_model;
 
     cv::Mat point_forward_map[2];
     cv::Mat point_reverse_map[2];
@@ -52,6 +53,8 @@ class vIPT {
     vIPT();
 
     const cv::Mat& getQ();
+    const cv::Mat& getK(int cam = 0);
+    const cv::Size& getRes(int cam = 0);
     void setProjectedImageSize(int height, int width);
     bool configure(const std::string &calib_file_path, int size_scaler = 2);
     bool showMapProjections(double seconds = 0);