diff --git a/calibrationdata_1280x720.tar.gz b/calibrationdata_1280x720.tar.gz
new file mode 100644
index 0000000..56266a9
Binary files /dev/null and b/calibrationdata_1280x720.tar.gz differ
diff --git a/left_1280x720.yaml b/left_1280x720.yaml
new file mode 100644
index 0000000..cea115d
--- /dev/null
+++ b/left_1280x720.yaml
@@ -0,0 +1,26 @@
+image_width: 1280
+image_height: 720
+camera_name: left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 873.68467,    0.     ,  657.89992,
+            0.     ,  871.77207,  360.60431,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.345111, 0.109548, 0.007497, 0.001845, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.999594  ,  0.01840935,  0.02174699,
+         -0.0188595 ,  0.99960827,  0.02067903,
+         -0.02135778, -0.02108077,  0.99954962]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 869.23405,    0.     ,  590.64311,    0.     ,
+            0.     ,  869.23405,  366.70978,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/left_320x240.yaml b/left_320x240.yaml
index 90d7c05..5c72953 100644
--- a/left_320x240.yaml
+++ b/left_320x240.yaml
@@ -4,17 +4,23 @@ camera_name: left
 camera_matrix:
   rows: 3
   cols: 3
-  data: [244.429325, 0.000000, 165.897763, 0.000000, 325.915464, 123.820184, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
+  data: [ 225.48436,    0.     ,  164.71275,
+            0.     ,  299.70005,  118.01326,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.412729, 0.153568, -0.000334, -0.003140, 0.000000]
+  data: [-0.404573, 0.163958, 0.001334, -0.005042, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.920705, 0.002779, 0.390251, -0.008226, 0.999891, 0.012287, -0.390174, -0.014523, 0.920627]
+  data: [ 0.95911429, -0.04577467, -0.27929279,
+          0.04325362,  0.9989487 , -0.01518615,
+          0.27969431,  0.00248483,  0.96008589]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [343.984335, 0.000000, -82.478912, 0.000000, 0.000000, 343.984335, 132.359158, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [ 305.6735 ,    0.     ,  289.60029,    0.     ,
+            0.     ,  305.6735 ,  121.06541,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/right_1280x720.yaml b/right_1280x720.yaml
new file mode 100644
index 0000000..90c9fd3
--- /dev/null
+++ b/right_1280x720.yaml
@@ -0,0 +1,26 @@
+image_width: 1280
+image_height: 720
+camera_name: right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 879.81628,    0.     ,  631.55074,
+            0.     ,  877.90835,  349.78586,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.359859, 0.129457, 0.002187, 0.006292, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99680464,  0.0451326 ,  0.06590573,
+         -0.04374539,  0.99879285, -0.02234257,
+         -0.06683455,  0.0193881 ,  0.99757568]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 869.23405,    0.     ,  590.64311,  -46.17111,
+            0.     ,  869.23405,  366.70978,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/right_320x240.yaml b/right_320x240.yaml
index 717fc0b..287f321 100644
--- a/right_320x240.yaml
+++ b/right_320x240.yaml
@@ -4,17 +4,23 @@ camera_name: right
 camera_matrix:
   rows: 3
   cols: 3
-  data: [231.318831, 0.000000, 152.641652, 0.000000, 308.097601, 127.750465, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
+  data: [ 227.8688 ,    0.     ,  157.95209,
+            0.     ,  303.09539,  118.1566 ,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.373994, 0.139767, 0.000333, -0.001028, 0.000000]
+  data: [-0.399746, 0.164662, -0.001467, 0.001856, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.918165, 0.031804, 0.394919, -0.026285, 0.999467, -0.019379, -0.395324, 0.007413, 0.918512]
+  data: [ 0.97349106, -0.02827958, -0.2269701 ,
+          0.03031821,  0.99952516,  0.00550008,
+          0.22670678, -0.01223561,  0.9738862 ]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [343.984335, 0.000000, -82.478912, -22.005200, 0.000000, 343.984335, 132.359158, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [ 305.6735 ,    0.     ,  289.60029,  -14.70807,
+            0.     ,  305.6735 ,  121.06541,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/stereo_proc_spiri.launch b/stereo_proc_spiri.launch
index 132905d..6e06541 100644
--- a/stereo_proc_spiri.launch
+++ b/stereo_proc_spiri.launch
@@ -13,6 +13,10 @@
 	      <param name="speckle_size" value="142" />
 	      <param name="texture_threshold" value="1040" />
   	</node>
+  	<node name="disparity_to_image" pkg="topic_tools" type="transform" output="screen"
+	      args="/stereo/disparity /stereo/disparity_image sensor_msgs/Image 'm.image'">
+	</node>
+
   </group>
 
 
diff --git a/tcp_cameras.launch b/tcp_cameras.launch
index 3adb582..84eb57d 100644
--- a/tcp_cameras.launch
+++ b/tcp_cameras.launch
@@ -10,7 +10,8 @@
   <arg name="width" default="320" />                        <!-- Image Width -->
   <arg name="height" default="240" />                        <!-- Image Height -->
   <arg name="fps" default="30" />                            <!-- Desired framerate -->
-
+  <arg name="calibration_right_file" default="right_320x240.yaml"/>
+  <arg name="calibration_left_file" default="left_320x240.yaml"/>	
   <!-- Make arguments available to parameter server -->
   <param name="image_width" type="int" value="$(arg width)" />
   <param name="image_height" type="int" value="$(arg height)" />
@@ -20,14 +21,14 @@
     <node name="right" 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)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />-->
-      <param name="gscam_config" value=" udpsrc port=5000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! video/x-raw, format=(string)RGB"/> 
+      <param name="gscam_config" value=" udpsrc port=5000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! video/x-raw, format=(string)RGB"/>
       <param name="camera_id" value="0" />
       <param name="frame_id" value="right_link" />
       <param name="sync_sink" value="true" />
       <param name="right/image_width" type="int" value="$(arg width)" />
       <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/right_320x240.yaml" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/$(arg calibration_right_file)" />
       <!--<param name="image_encoding_" value="jpeg" />-->
       <remap from="camera/image_raw" to="right/image_raw" />
       <remap from="camera/camera_info" to="right/camera_info" />
@@ -36,20 +37,25 @@
     <node name="left" pkg="gscam" type="gscam" output="screen">
       <param name="camera_name" value="left" />
       <!--<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(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="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="$(arg fps)" />
-      <param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/$(arg calibration_left_file)" />
       <!--<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>
 
+    <!--<node pkg="tf" type="static_transform_publisher" name="tf_front_right_camera"
+          args="0 2.85 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
+    <node pkg="tf" type="static_transform_publisher" name="tf_front_left_camera"
+          args="0 -2.85 0 -1.57 0 -1.57 fcu front_camera_link 10"/>-->
+
   </group>
 
 </launch>