diff --git a/data/calibration_result.xml b/data/calibration_result.xml
index 336b4a9..86f6cf0 100644
--- a/data/calibration_result.xml
+++ b/data/calibration_result.xml
@@ -6,52 +6,50 @@
   <dt>d</dt>
   <data>
     488. 648.</data></img_shape>
-<rms>7.0168302075105882e-01</rms>
+<rms>1.6851250456533389e+00</rms>
 <cam_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.6367222732735700e+03 0. 2.7489883513272565e+02 0.
-    1.7713215185393135e+03 4.3284873290014372e+02 0. 0. 1.</data></cam_int>
+    1.4779325254668902e+03 0. -1.8785507594526511e+01 0.
+    1.6747661036767918e+03 2.2493942089237984e+02 0. 0. 1.</data></cam_int>
 <cam_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    8.5092343461742082e-01 -1.8041800000309316e+01
-    1.0633203890745055e-01 -2.7326219603624899e-02
-    1.6250326163766746e+02</data></cam_dist>
+    -1.2248676701286373e-01 -5.6035663975680592e+00
+    -3.1602015597136490e-02 8.1471625345940629e-02
+    2.0554986473180598e+01</data></cam_dist>
 <proj_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.6962337176676847e+03 0. 3.7832170100534341e+02 0.
-    1.6695702047678935e+03 6.7878365766841932e+02 0. 0. 1.</data></proj_int>
+    1.8617400395580460e+03 0. 3.5681175388625871e+02 0.
+    1.7666850558587571e+03 6.5872760390459860e+02 0. 0. 1.</data></proj_int>
 <proj_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    1.5501074965250736e-01 2.3668093571002305e-01
-    -1.3464334794718293e-02 -1.0738367987867763e-01
-    1.1645550364640855e+00</data></proj_dist>
+    1.7486715550470874e-01 1.1879369540267724e+00 1.3737191114600282e-02
+    -1.3163465300229457e-01 -3.4847696016659970e+00</data></proj_dist>
 <rotation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    -9.6970596416833343e-01 -3.4806280719031045e-02
-    2.4178268316583582e-01 -1.8105147706862272e-02
-    -9.7683310798549139e-01 -2.1323527562276864e-01
-    2.4360325671648078e-01 -2.1115302973415614e-01
-    9.4661071795707608e-01</data></rotation>
+    9.9279560756259699e-01 1.0890225421317322e-01 4.9971798363708991e-02
+    -9.9664564177545142e-02 9.8205375367543613e-01
+    -1.6011683090570430e-01 -6.6512075984093116e-02
+    1.5398286891493909e-01 9.8583234874344172e-01</data></rotation>
 <translation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>1</cols>
   <dt>d</dt>
   <data>
-    3.4970709017361168e-01 -5.6169462967670270e+01
-    -1.4679149666693439e+02</data></translation>
-</opencv_storage>
\ No newline at end of file
+    -6.4456747938400653e+01 -2.4519025158880417e+01
+    -2.3016670730206940e+01</data></translation>
+</opencv_storage>
diff --git a/data/sampled_kinect_pattern.png b/data/sampled_kinect_pattern.png
index eb9ff19..4fd07f4 100644
Binary files a/data/sampled_kinect_pattern.png and b/data/sampled_kinect_pattern.png differ