Result is off and wrong projection during calibration

[khuechuong]

This is a follow up from issue 91. I did with my dataset with a pretty wide angle lens.
So I did intrinsic calibration with kalibr. The preprocessing cloud point looks good. The problem was that at the end, it was still kind of off:

I did see that during the calibration process, there was some mis-projection in the corner that projects my april tags to the wrong:

So I was wondering, how should I fix this? Should I go to an open environment with enough features like your rosbag?

[koide3]

The viewer doesn't do hidden points culling, and thus this effect (back objects are colored by the pixels of front objects) itself doesn't mean a failure. Meanwhile, if you see misalignment on front objects, that means the calibration result is not satisfactory.

[khuechuong]

So then, how would I fix it?