diff --git a/aruco_camera_pose_estimator_cpp/config/calibration_params.yaml b/aruco_camera_pose_estimator_cpp/config/calibration_params.yaml
index 07b6361..c4fcb18 100644
--- a/aruco_camera_pose_estimator_cpp/config/calibration_params.yaml
+++ b/aruco_camera_pose_estimator_cpp/config/calibration_params.yaml
@@ -1,10 +1,19 @@
 pose_service:
   ros__parameters:
     # rs435 intrinsic parameters
-    cx: 958.620910644531
-    cy: 564.277893066406
-    fx: 1376.80395507812
-    fy: 1376.80322265625
+
+    # HD 1080p
+    # cx: 958.620910644531
+    # cy: 564.277893066406
+    # fx: 1376.80395507812
+    # fy: 1376.80322265625
+    
+    # HD 720p
+    cx: 639.080627441406
+    cy: 376.185272216797
+    fx: 917.869323730469
+    fy: 917.868835449219
+    
     # rs435 distortion parameter
     k1: 0.0
     k2: 0.0