diff --git a/kinect2_calibration/CMakeLists.txt b/kinect2_calibration/CMakeLists.txt
index 0ef4dcc..bd0fa4a 100644
--- a/kinect2_calibration/CMakeLists.txt
+++ b/kinect2_calibration/CMakeLists.txt
@@ -88,11 +88,10 @@ target_link_libraries(kinect2_calibration
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS kinect2_bridge kinect2_bridge_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS kinect2_calibration kinect2_calibration
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp
index 73d7957..8e35314 100644
--- a/kinect2_calibration/src/kinect2_calibration.cpp
+++ b/kinect2_calibration/src/kinect2_calibration.cpp
@@ -110,7 +110,7 @@ public:
       circleFlags = cv::CALIB_CB_ASYMMETRIC_GRID + cv::CALIB_CB_CLUSTERING;
     }
 
-    params.push_back(CV_IMWRITE_PNG_COMPRESSION);
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
     params.push_back(9);
 
     board.resize(boardDims.width * boardDims.height);
@@ -347,14 +347,14 @@ private:
 
         if(mode == COLOR || mode == SYNC)
         {
-          cv::cvtColor(color, colorDisp, CV_GRAY2BGR);
+          cv::cvtColor(color, colorDisp, cv::COLOR_GRAY2BGR);
           cv::drawChessboardCorners(colorDisp, boardDims, pointsColor, foundColor);
           //cv::resize(colorDisp, colorDisp, cv::Size(), 0.5, 0.5);
           //cv::flip(colorDisp, colorDisp, 1);
         }
         if(mode == IR || mode == SYNC)
         {
-          cv::cvtColor(irGrey, irDisp, CV_GRAY2BGR);
+          cv::cvtColor(irGrey, irDisp, cv::COLOR_GRAY2BGR);
           cv::drawChessboardCorners(irDisp, boardDims, pointsIr, foundIr);
           //cv::resize(irDisp, irDisp, cv::Size(), 0.5, 0.5);
           //cv::flip(irDisp, irDisp, 1);
@@ -746,6 +746,10 @@ private:
 #elif CV_MAJOR_VERSION == 3
     error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
                                 rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
+    
+#elif CV_MAJOR_VERSION == 4
+    error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
+                                rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
 #endif
     OUT_INFO("re-projection error: " << error << std::endl);
 
@@ -997,7 +1001,7 @@ public:
   }
 
 private:
-  void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const
+void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const
   {
     if(imageDists.size() != depthDists.size())
     {
@@ -1043,6 +1047,8 @@ private:
 
   void computePointDists(const cv::Mat &normal, const double distance, const cv::Mat &region, const cv::Rect &roi, std::vector<double> &depthDists, std::vector<double> &imageDists)
   {
+      
+    OUT_INFO( "rows:" << region.rows<<std::endl);
     for(int r = 0; r < region.rows; ++r)
     {
       const uint16_t *itD = region.ptr<uint16_t>(r);
@@ -1051,6 +1057,7 @@ private:
       for(int c = 0; c < region.cols; ++c, ++itD, ++p.x)
       {
         const double dDist = *itD / 1000.0;
+        OUT_INFO( "dDist:" << dDist<<std::endl);
 
         if(dDist < 0.1)
         {
@@ -1059,6 +1066,7 @@ private:
 
         const double iDist = computeDistance(p, normal, distance);
         const double diff = iDist - dDist;
+        OUT_INFO( "std::abs(diff) :" << std::abs(diff) <<std::endl);
 
         if(std::abs(diff) > 0.08)
         {
@@ -1088,11 +1096,12 @@ private:
   void getPlane(const size_t index, cv::Mat &normal, double &distance) const
   {
     cv::Mat rvec, rotation, translation;
-    //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP);
 #if CV_MAJOR_VERSION == 2
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE);
 #elif CV_MAJOR_VERSION == 3
     cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
+#elif CV_MAJOR_VERSION == 4
+    cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
 #endif
     cv::Rodrigues(rvec, rotation);