diff --git a/calibration-left.yaml b/calibration-left.yaml
index 1d0b450..b42584b 100644
--- a/calibration-left.yaml
+++ b/calibration-left.yaml
@@ -1,20 +1,20 @@
-image_width: 1280
-image_height: 720
-camera_name: left
+image_width: 1920
+image_height: 1080
+camera_name: stereo/left
 camera_matrix:
   rows: 3
   cols: 3
-  data: [872.082713, 0, 629.146801, 0, 872.948685, 329.783337, 0, 0, 1]
+  data: [1304.029146, 0.000000, 990.448476, 0.000000, 1300.360939, 515.968466, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.382749, 0.138828, 0.001323, 0.000611, 0]
+  data: [-0.386216, 0.140383, 0.004409, -0.002219, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.999842, -0.007606, 0.016049, 0.007604, 0.9999709999999999, 0.000166, -0.01605, -4.4e-05, 0.999871]
+  data: [0.998360, -0.045357, 0.034935, 0.045312, 0.998971, 0.002076, -0.034993, -0.000489, 0.999387]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [858.0889110000001, 0, 599.495079, 0, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]
+  data: [1289.951088, 0.000000, 874.958939, 0.000000, 0.000000, 1289.951088, 546.437374, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/calibration-right.yaml b/calibration-right.yaml
index 60a83bf..971885e 100644
--- a/calibration-right.yaml
+++ b/calibration-right.yaml
@@ -1,20 +1,20 @@
-image_width: 1280
-image_height: 720
-camera_name: right
+image_width: 1920
+image_height: 1080
+camera_name: stereo/right
 camera_matrix:
   rows: 3
   cols: 3
-  data: [868.009016, 0, 627.0717110000001, 0, 868.673534, 357.037587, 0, 0, 1]
+  data: [1308.636060, 0.000000, 915.116840, 0.000000, 1305.769610, 568.569179, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.376131, 0.129475, 0.000191, 0.000201, 0]
+  data: [-0.381942, 0.145040, 0.000536, 0.002452, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.999533, 0.00838, 0.029402, -0.008376999999999999, 0.999965, -0.000228, -0.029403, -1.8e-05, 0.9995679999999999]
+  data: [0.998404, -0.028197, 0.048937, 0.028260, 0.999600, -0.000592, -0.048900, 0.001974, 0.998802]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [858.0889110000001, 0, 599.495079, -430.072473, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]
+  data: [1289.951088, 0.000000, 874.958939, -68.012187, 0.000000, 1289.951088, 546.437374, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/depth_map.launch b/depth_map.launch
new file mode 100644
index 0000000..d8b9cb2
--- /dev/null
+++ b/depth_map.launch
@@ -0,0 +1,11 @@
+<launch>
+
+<group ns="stereo">
+  <node pkg="nodelet" type="nodelet" name="stereo_proc"  args="manager" output="screen"/>
+  		<remap from="stereo/disparity" to="disparity" />
+  <node name="disparity_image_proc" pkg="nodelet" type="nodelet" args="load disparity_image_proc/depth_image stereo_proc" output="screen">
+  	
+  </node>
+</group>
+
+</launch>
\ No newline at end of file
diff --git a/gstreamer_pipelines b/gstreamer_pipelines
index 1186751..f673e4f 100644
--- a/gstreamer_pipelines
+++ b/gstreamer_pipelines
@@ -10,4 +10,13 @@ gst-launch-1.0 -e nvcamerasrc fpsRange="30.0 30.0" ! 'video/x-raw(memory:NVMM),
 gst-launch-1.0 nvcamerasrc fpsRange="30 30" intent=3 ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=4000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=192.168.179.60 port=5000 sync=false async=false
 
 #Reciever
-gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! avdec_h264! autovideosink -e
\ No newline at end of file
+gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! avdec_h264! autovideosink -e
+
+#Synchornized run
+#Source https://devtalk.nvidia.com/default/topic/1052749/jetson-tx1/how-to-capture-video-simultaneously-with-two-cameras-using-gstreamer-/
+gst-launch-1.0 \
+multiqueue max-size-buffers=1 name=mqueue \
+nvcamerasrc sensor-id=0 fpsRange="30 30" intent=3 wbmode=5 ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! mqueue.sink_1 \
+nvcamerasrc sensor-id=1 fpsRange="30 30" intent=3 wbmode=5 ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! mqueue.sink_2 \
+mqueue.src_1 ! omxh264enc control-rate=2 bitrate=4000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=192.168.1.92 port=5000 sync=false async=false \
+mqueue.src_2 ! omxh264enc control-rate=2 bitrate=4000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=192.168.1.92 port=6000 sync=false async=false 
\ No newline at end of file
diff --git a/stereo_proc_spiri.launch b/stereo_proc_spiri.launch
new file mode 100644
index 0000000..b47603e
--- /dev/null
+++ b/stereo_proc_spiri.launch
@@ -0,0 +1,19 @@
+<launch>
+
+  <group ns="stereo">
+  	<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen">
+      <param name="approximate_sync" value="true" />
+      <param name="queue_size" value="200" />
+      <param name="correlation_window_size" value="11" />
+      <param name="disparity_range" value="48" />
+      <param name="min_disparity" value="15" />
+      <param name="prefilter_cap" value="29" />
+      <param name="prefilter_size" value="125" />
+      <param name="speckle_range" value="24" />
+      <param name="speckle_size" value="142" />
+      <param name="texture_threshold" value="1040" />
+  	</node>
+  </group>
+
+
+</launch>
\ No newline at end of file
diff --git a/tcp_cameras.launch b/tcp_cameras.launch
index b9a4a5e..e585334 100644
--- a/tcp_cameras.launch
+++ b/tcp_cameras.launch
@@ -1,5 +1,10 @@
 <launch>
 
+  <!-- On Spiri run the transmitting command as below-->
+
+  <!--gst-launch-1.0 multiqueue name=mqueue nvcamerasrc sensor-id=0 fpsRange="30 30" intent=3 ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! mqueue.sink_1 nvcamerasrc sensor-id=1 fpsRange="30 30" intent=3 ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! mqueue.sink_2 mqueue.src_1 ! omxh264enc control-rate=2 bitrate=4000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=192.168.179.60 port=5000 sync=false async=false mqueue.src_2 ! omxh264enc control-rate=2 bitrate=4000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=192.168.179.60 port=6000 sync=false async=false 
+  -->
+
   <!-- Command Line Arguments -->
   <arg name="sync_sink" default="true" />                    <!-- Synchronize the app sink -->
   <arg name="width" default="1280" />                        <!-- Image Width -->
@@ -23,11 +28,27 @@
       <param name="right/image_height" type="int" value="$(arg height)" />
       <param name="right/target_fps" type="int" value="$(arg fps)" />
       <param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
-      <param name="image_encoding_" value="jpeg" />
+      <!--<param name="image_encoding_" value="jpeg" />-->
       <remap from="camera/image_raw" to="right/image_raw" />
       <remap from="camera/camera_info" to="right/camera_info" />
       <remap from="set_camera_info" to="camera_info" />
     </node>
+    <node name="left" pkg="gscam" type="gscam" output="screen">
+      <param name="camera_name" value="right" />
+      <!--<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />-->
+      <param name="gscam_config" value=" udpsrc port=6000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! video/x-raw, format=(string)RGB"/> 
+      <param name="camera_id" value="1" />
+      <param name="frame_id" value="left_link" />
+      <param name="sync_sink" value="true" />
+      <param name="left/image_width" type="int" value="$(arg width)" />
+      <param name="left/image_height" type="int" value="$(arg height)" />
+      <param name="left/target_fps" type="int" value="$(arg fps)" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
+      <!--<param name="image_encoding_" value="jpeg" />-->
+      <remap from="camera/image_raw" to="left/image_raw" />
+      <remap from="camera/camera_info" to="left/camera_info" />
+      <remap from="set_camera_info" to="camera_info" />
+    </node>
 
   </group>