diff --git a/modules/zivid/experimental/calibration.py b/modules/zivid/experimental/calibration.py
index f1ba4f66..05dc70aa 100644
--- a/modules/zivid/experimental/calibration.py
+++ b/modules/zivid/experimental/calibration.py
@@ -17,6 +17,11 @@ def intrinsics(camera, settings=None):
     with the given settings. If settings are not provided, intrinsics appropriate for the camera's
     default 3D capture settings is returned.
 
+    For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending
+    on the pixel sampling and resampling settings used in the Settings and in the Settings.color. This function
+    returns intrinsics applicable for the 3D point cloud resolution. You can call this function with a Settings2D
+    instance for the 2D intrinsics.
+
     Args:
         camera: A Camera instance
         settings: Settings or Settings2D to be used to get correct intrinsics (optional)
@@ -57,8 +62,13 @@ def intrinsics(camera, settings=None):
 def estimate_intrinsics(frame):
     """Estimate camera intrinsics for a given frame.
 
+    The estimated parameters may be used to project 3D point cloud onto the corresponding 2D image.
     This function is for advanced use cases. Otherwise, use intrinsics(camera).
 
+    For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending
+    on the pixel sampling and resampling settings used in the Settings and in the Settings.color. This function
+    returns intrinsics applicable for the 3D point cloud resolution.
+
     Args:
         frame: A Frame instance