diff --git a/data/calibration_result.xml b/data/calibration_result.xml
index 86f6cf0..1398f03 100644
--- a/data/calibration_result.xml
+++ b/data/calibration_result.xml
@@ -6,50 +6,51 @@
   <dt>d</dt>
   <data>
     488. 648.</data></img_shape>
-<rms>1.6851250456533389e+00</rms>
+<rms>6.3901938604977060e-01</rms>
 <cam_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.4779325254668902e+03 0. -1.8785507594526511e+01 0.
-    1.6747661036767918e+03 2.2493942089237984e+02 0. 0. 1.</data></cam_int>
+    1.6399564573473415e+03 0. -6.5062953701584874e+01 0.
+    1.5741778806528637e+03 2.3634226604202689e+02 0. 0. 1.</data></cam_int>
 <cam_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    -1.2248676701286373e-01 -5.6035663975680592e+00
-    -3.1602015597136490e-02 8.1471625345940629e-02
-    2.0554986473180598e+01</data></cam_dist>
+    4.0533496459876667e-01 -7.9789330239048994e-01
+    -3.4496681677903256e-02 -1.1244970513014216e-01
+    7.0913484303897389e-01</data></cam_dist>
 <proj_int type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    1.8617400395580460e+03 0. 3.5681175388625871e+02 0.
-    1.7666850558587571e+03 6.5872760390459860e+02 0. 0. 1.</data></proj_int>
+    1.6483495467542737e+03 0. 3.8306162278275889e+02 0.
+    1.6326239866472497e+03 7.3044314024967093e+02 0. 0. 1.</data></proj_int>
 <proj_dist type_id="opencv-matrix">
   <rows>1</rows>
   <cols>5</cols>
   <dt>d</dt>
   <data>
-    1.7486715550470874e-01 1.1879369540267724e+00 1.3737191114600282e-02
-    -1.3163465300229457e-01 -3.4847696016659970e+00</data></proj_dist>
+    -4.7323012136273940e-01 6.1654050808332572e+00
+    -2.6533525558408575e-02 -4.8302040441684145e-02
+    -2.1030103617531569e+01</data></proj_dist>
 <rotation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>3</cols>
   <dt>d</dt>
   <data>
-    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>
+    9.9544319031800177e-01 2.2550253921095241e-02
+    -9.2651718265839858e-02 -3.7412411799396868e-02
+    9.8608873522691420e-01 -1.6195467792545257e-01
+    8.7710696570434246e-02 1.6468300551872025e-01 9.8243897591679974e-01</data></rotation>
 <translation type_id="opencv-matrix">
   <rows>3</rows>
   <cols>1</cols>
   <dt>d</dt>
   <data>
-    -6.4456747938400653e+01 -2.4519025158880417e+01
-    -2.3016670730206940e+01</data></translation>
+    -5.4987956675391622e+01 3.6267509838011689e+00
+    -1.5791458092388201e+01</data></translation>
 </opencv_storage>
diff --git a/data/sampled_kinect_pattern.png b/data/sampled_kinect_pattern.png
index 4fd07f4..f51dc54 100644
Binary files a/data/sampled_kinect_pattern.png and b/data/sampled_kinect_pattern.png differ