diff --git a/calibration-left.yaml b/calibration-left.yaml
new file mode 100644
index 0000000..bd32967
--- /dev/null
+++ b/calibration-left.yaml
@@ -0,0 +1,20 @@
+image_width: 1280
+image_height: 720
+camera_name: narrow_stereo/left
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [872.082713, 0, 629.146801, 0, 872.948685, 329.783337, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.382749, 0.138828, 0.001323, 0.000611, 0]
+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]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [858.0889110000001, 0, 599.495079, 0, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]
diff --git a/calibration-right.yaml b/calibration-right.yaml
new file mode 100644
index 0000000..d19ea74
--- /dev/null
+++ b/calibration-right.yaml
@@ -0,0 +1,20 @@
+image_width: 1280
+image_height: 720
+camera_name: narrow_stereo/right
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [868.009016, 0, 627.0717110000001, 0, 868.673534, 357.037587, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.376131, 0.129475, 0.000191, 0.000201, 0]
+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]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [858.0889110000001, 0, 599.495079, -430.072473, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]
diff --git a/camera-controls-utility.sh b/camera-controls-utility.sh
new file mode 100755
index 0000000..834b728
--- /dev/null
+++ b/camera-controls-utility.sh
@@ -0,0 +1,209 @@
+#!/bin/bash
+exposure=0
+gain=0
+data=0
+READGAINCTRL=""
+READEXPOSURECTRL=""
+WRITEGAINCTRL=""
+WRITEEXPOSURECTRL=""
+MAXMINCTRL=""
+DEVICE=""
+CONFIGFILE=""
+HELP=""
+
+for i in "$@"
+do
+
+HELP=`echo $i | grep -wo "\--h"`
+READGAINCTRL=`echo $i | grep -wo "\-rg"`
+READEXPOSURECTRL=`echo $i | grep -wo "\-re"`
+MAXMINCTRL=`echo $i | grep -wo "\-mm"`
+LOWLIGHTCOND=`echo $i | grep -wo "\-llc"`
+HIGHLIGHTCOND=`echo $i | grep -wo "\-hlc"`
+
+case $i in
+ -rg=*|--readgain=*)
+ READGAINCTRL="${i#*=}"
+ shift # past argument=value
+ ;;
+ -re=*|--readexposure=*)
+ READEXPOSURECTRL="${i#*=}"
+ shift # past argument=value
+ ;;
+ -wg=*|--writegain=*)
+ WRITEGAINCTRL="${i#*=}"
+ shift # past argument=value
+ ;;
+ -we=*|--writeexposure=*)
+ WRITEEXPOSURECTRL="${i#*=}"
+ shift # past argument=value
+ ;;
+ -mm=*|--maxminctrls=*)
+ MAXMINCTRL="${i#*=}"
+ shift # past argument=value
+ ;;
+ -llc=*|--lightcondlow=*)
+ LOWLIGHTCOND="${i#*=}"
+ shift # past argument=value
+ ;;
+ -hlc=*|--lightcondhigh=*)
+ HIGHLIGHTCOND="${i#*=}"
+ shift # past argument=value
+ ;;
+ -d=*|--device=*)
+ DEVICE="${i#*=}"
+ shift # past argument=value
+ ;;
+ --h*|--help*)
+ HELP="${i#*=}"
+ shift # past argument=value
+ ;;
+ --default)
+ DEFAULT=YES
+ shift # past argument with no value
+ ;;
+ *)
+ # unknown option
+ ;;
+esac
+done
+
+read_gain(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ v4l2-ctl -d "/dev/video$DEVICE" -C gain
+ fi
+}
+
+read_exposure(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ v4l2-ctl -d "/dev/video$DEVICE" -C coarse_time
+ fi
+}
+
+write_gain(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ gain=$WRITEGAINCTRL
+ v4l2-ctl -d "/dev/video$DEVICE" -c gain=$gain
+ fi
+}
+
+write_exposure(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ exposure=$WRITEEXPOSURECTRL
+ v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=$exposure
+ fi
+}
+
+min_and_max_ctrls(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ v4l2-ctl -d "/dev/video$DEVICE" -l | grep -w gain
+ v4l2-ctl -d "/dev/video$DEVICE" -l | grep -w coarse_time
+ fi
+}
+
+low_light_cond(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ v4l2-ctl -d "/dev/video$DEVICE" -c gain=520
+ v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=667
+ fi
+}
+
+high_light_cond(){
+ if [ "$DEVICE" == "" ]
+ then
+ echo "Device needed"
+ else
+ v4l2-ctl -d "/dev/video$DEVICE" -c gain=66
+ v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=260
+ fi
+}
+
+help(){
+echo "***************************************************************************************************************************"
+echo "* ______ _ _____ _____ ___ ______ _____ _____ *"
+echo "* | ___ \| | | ___||_ _| / _ \ | _ \| ___|/ ___| *"
+echo "* | |_/ /| | | |__ | | / /_\ \| | | || |__ \ \__ *"
+echo "* | __/ | | | __| | | | _ || | | || __| \___ \ *"
+echo "* | | | |____| |___ _| |_ | | | || |/ / | |___ ____/ / *"
+echo "* \_| \_____/\____/ \___/ \_| |_/|___/ \____/ \____/ *"
+echo "* *"
+echo "********************************************* controls-utility Instructions **********************************************"
+echo "* *"
+echo "* - Controls values: Display the maximum, minimum, actual and default value of the gain and exposure. *"
+echo "* Use -mm and set the device. *"
+echo "* example: ./controls-utility.sh -d=\"0\" -mm *"
+echo "* *"
+echo "* - Read gain value: Use the argument \"-rg\", and the device to read current gain value *"
+echo "* example: ./controls-utility.sh -d=\"0\" -rg *"
+echo "* *"
+echo "* - Read exposure value: Use the argument \"-re\", and the device to read current exposure value *"
+echo "* example: ./controls-utility.sh -d=\"0\" -re *"
+echo "* *"
+echo "* - Write gain value: Use the argument \"-wg\", and the device to write the gain desired *"
+echo "* example: ./controls-utility.sh -d=\"0\" -wg=\"200\" *"
+echo "* *"
+echo "* - Write exposure value: Use the argument \"-we\", and the device to write the gain desired *"
+echo "* example: ./controls-utility.sh -d=\"0\" -we=\"200\" *"
+echo "* *"
+echo "* - Low light conditions: Use the argument \"-llc\", and the device *"
+echo "* example: ./controls-utility.sh -d=\"0\" -llc *"
+echo "* *"
+echo "* - High light conditions: Use the argument \"-hlc\", and the device *"
+echo "* example: ./controls-utility.sh -d=\"0\" -hlc *"
+echo "* *"
+echo "* - Help instructions: Use the argument \"--h\" *"
+echo "* example: ./controls-utility.sh --h *"
+echo "* *"
+echo "***************************************************************************************************************************"
+}
+
+if [ "$READGAINCTRL" != "" ]
+ then
+ read_gain
+fi
+if [ "$READEXPOSURECTRL" != "" ]
+ then
+ read_exposure
+fi
+if [ "$WRITEGAINCTRL" != "" ]
+ then
+ write_gain
+fi
+if [ "$WRITEEXPOSURECTRL" != "" ]
+ then
+ write_exposure
+fi
+if [ "$LOWLIGHTCOND" != "" ]
+ then
+ low_light_cond
+fi
+if [ "$HIGHLIGHTCOND" != "" ]
+ then
+ high_light_cond
+fi
+if [ "$MAXMINCTRL" != "" ]
+ then
+ min_and_max_ctrls
+fi
+if [ "$HELP" != "" ]
+ then
+ help
+fi
diff --git a/cameras-manual.launch b/cameras-manual.launch
new file mode 100644
index 0000000..6e4d227
--- /dev/null
+++ b/cameras-manual.launch
@@ -0,0 +1,48 @@
+
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diff --git a/cameras.launch b/cameras.launch
new file mode 100644
index 0000000..301afef
--- /dev/null
+++ b/cameras.launch
@@ -0,0 +1,48 @@
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diff --git a/cameras_SLAM.launch b/cameras_SLAM.launch
new file mode 100644
index 0000000..cdc2223
--- /dev/null
+++ b/cameras_SLAM.launch
@@ -0,0 +1,48 @@
+
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diff --git a/jetson_csi_cam.launch b/jetson_csi_cam.launch
index 4230375..4bf0a25 100644
--- a/jetson_csi_cam.launch
+++ b/jetson_csi_cam.launch
@@ -15,7 +15,7 @@
-
diff --git a/stereoSettings.yaml b/stereoSettings.yaml
new file mode 100644
index 0000000..d2df7d3
--- /dev/null
+++ b/stereoSettings.yaml
@@ -0,0 +1,117 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV)
+Camera.fx: 858.08891142058
+Camera.fy: 858.08891142058
+Camera.cx: 599.4950790405273
+Camera.cy: 344.66563415527344
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.height: 720
+Camera.width: 1280
+
+# Camera frames per second
+Camera.fps: 60.0
+
+# stereo baseline times fx
+# Spiri baseline = 53mm = 0.053m
+Camera.bf: 45.4787123053
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 0
+
+# Close/Far threshold. Baseline times.
+ThDepth: 35
+
+#--------------------------------------------------------------------------------------------
+# Stereo Rectification. Only if you need to pre-rectify the images.
+# Camera.fx, .fy, etc must be the same as in LEFT.P
+#--------------------------------------------------------------------------------------------
+
+LEFT.height: 720
+LEFT.width: 1280
+LEFT.D: !!opencv-matrix
+ rows: 1
+ cols: 5
+ dt: d
+ data: [-0.38274884059323255, 0.13882784820394012, 0.0013228079981012287, 0.000610515166596169, 0.0]
+LEFT.K: !!opencv-matrix
+ rows: 3
+ cols: 3
+ dt: d
+ data: [872.0827132010173, 0.0, 629.146800831531, 0.0, 872.9486851144557, 329.7833373150439, 0.0, 0.0, 1.0]
+LEFT.R: !!opencv-matrix
+ rows: 3
+ cols: 3
+ dt: d
+ data: [0.9998422733068986, -0.007605901683869659, 0.016049260670464208, 0.007604212038624664, 0.9999710737331147, 0.0001663018737299101, -0.016050061300968175, -4.4233662283887984e-05, 0.9998711884916068]
+LEFT.P: !!opencv-matrix
+ rows: 3
+ cols: 4
+ dt: d
+ data: [858.08891142058, 0.0, 599.4950790405273, 0.0, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
+
+RIGHT.height: 720
+RIGHT.width: 1280
+RIGHT.D: !!opencv-matrix
+ rows: 1
+ cols: 5
+ dt: d
+ data: [-0.37613139424849784, 0.12947511985930749, 0.0001911664252283371, 0.00020105328605981988, 0.0]
+RIGHT.K: !!opencv-matrix
+ rows: 3
+ cols: 3
+ dt: d
+ data: [868.0090164746218, 0.0, 627.0717114982791, 0.0, 868.6735344383518, 357.03758653892595, 0.0, 0.0, 1.0]
+RIGHT.R: !!opencv-matrix
+ rows: 3
+ cols: 3
+ dt: d
+ data: [0.9995325381102218, 0.00837959770719308, 0.029402170008415367, -0.00837650207609846, 0.9999648903939145, -0.00022845668221993547, -0.02940305208489884, -1.7937450689705826e-05, 0.9995676366341303]
+RIGHT.P: !!opencv-matrix
+ rows: 3
+ cols: 4
+ dt: d
+ data: [858.08891142058, 0.0, 599.4950790405273, -430.0724725519876, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1200
+
+# ORB Extractor: Scale factor between levels in the scale pyramid
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
diff --git a/video-daylight.launch b/video-daylight.launch
new file mode 100644
index 0000000..3f1e0a8
--- /dev/null
+++ b/video-daylight.launch
@@ -0,0 +1,47 @@
+
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