diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index e7668aefd6ad6c76fb473140433c781a1837a4d5..786e01e4e1875dc28691c55ccc4b5d019a2c6daa 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -46,17 +46,17 @@ double ImageConverter::Pos_Px = .0001;
 double ImageConverter::Pos_Ix = 0.002;
 double ImageConverter::Pos_Dx = 0;
 
-double ImageConverter::Pos_Py = 4 * ImageConverter::Pos_Px;
-double ImageConverter::Pos_Iy = 4 * ImageConverter::Pos_Ix;
-double ImageConverter::Pos_Dy = 4 * ImageConverter::Pos_Dx;
+double ImageConverter::Pos_Py = .25 * ImageConverter::Pos_Px;
+double ImageConverter::Pos_Iy = .25 * ImageConverter::Pos_Ix;
+double ImageConverter::Pos_Dy = .25 * ImageConverter::Pos_Dx;
 
-double ImageConverter::S_Ang_P = 0.01 * ImageConverter::Pos_Px;
-double ImageConverter::S_Ang_I = 0.01 * ImageConverter::Pos_Ix;
-double ImageConverter::S_Ang_D = 0.01 * ImageConverter::Pos_Dx;
+double ImageConverter::S_Ang_P = 0.05 * ImageConverter::Pos_Px;
+double ImageConverter::S_Ang_I = 0.05 * ImageConverter::Pos_Ix;
+double ImageConverter::S_Ang_D = 0.05 * ImageConverter::Pos_Dx;
 
-double ImageConverter::L_Ang_P = 0.7 * ImageConverter::Pos_Px;
-double ImageConverter::L_Ang_I = 0.7 * ImageConverter::Pos_Ix;
-double ImageConverter::L_Ang_D = 0.7 * ImageConverter::Pos_Dx;
+double ImageConverter::L_Ang_P = 0.9 * ImageConverter::Pos_Px;
+double ImageConverter::L_Ang_I = 0.9 * ImageConverter::Pos_Ix;
+double ImageConverter::L_Ang_D = 0.9 * ImageConverter::Pos_Dx;
 
 float ImageConverter::TheMarkerSize = -1;
 
@@ -108,8 +108,8 @@ double ImageConverter::control_signalYAW;
 
 double ImageConverter::zeroMax = .0000000000000000001;
 double ImageConverter::zeroMin = -.0000000000000000001;
-double ImageConverter::Pz_eps = .012;
-double ImageConverter::Py_eps = .0001;
+double ImageConverter::Pz_eps = .01;
+double ImageConverter::Py_eps = .001;
 double ImageConverter::A_eps = .02; // ? deg.
 
 
@@ -269,7 +269,6 @@ void ImageConverter::ProgStart(int argc,char** argv)
 		{
                         // Detection of markers in the image passed
 			MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
-			//MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates);
 			
                         TheInputImage.copyTo(TheInputImageCopy);
 
@@ -290,17 +289,17 @@ void ImageConverter::ProgStart(int argc,char** argv)
 
 				if(curr_errorYAW > RefPose[3])
 				{
-					move2docking(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\)
+					move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\)
 				} else
 				{
-					move2docking(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---)
-				}	
+					move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---)
+				}
 			}
 			
 			if (ros::ok() && found)
 			{
-			        x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
-				y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
+			        y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+				x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
 				z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
 			
 				//printf("\n X = %4.2f Y = %4.2f Z = %4.2f\n",x_t,y_t,z_t);
@@ -436,9 +435,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
 {
        
 RefPose[0] = -.0957;
-RefPose[1] = 0.0054;
-RefPose[2] = 0.365;
-RefPose[3] = -0.65;
+RefPose[1] = -0.0965533;
+RefPose[2] = 0.371;
+RefPose[3] = -0.69;
 
 camPose[0] = CamFB->pose.position.x;
 camPose[1] = CamFB->pose.position.y;
@@ -610,10 +609,10 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
 	
 	if(curr_errorYAW > RefYAW)
 	{
-		dock(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\)
+		dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\)
 	} else
 	{
-		dock(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---)	
+		dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---)	
 	}
 }
 
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index 99a1201784db1cb9e5804fd6b821b952d5c721e7..e7668aefd6ad6c76fb473140433c781a1837a4d5 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -42,13 +42,21 @@ using namespace cv;
 using namespace aruco;
 using namespace std;
 
-double ImageConverter::Pos_P = .0001;
-double ImageConverter::Pos_I = 0.002;
-double ImageConverter::Pos_D = 0;
+double ImageConverter::Pos_Px = .0001;
+double ImageConverter::Pos_Ix = 0.002;
+double ImageConverter::Pos_Dx = 0;
 
-double ImageConverter::Ang_P = 0.01 * ImageConverter::Pos_P;
-double ImageConverter::Ang_I = 0.01 * ImageConverter::Pos_I;
-double ImageConverter::Ang_D = 0.01 * ImageConverter::Pos_D;
+double ImageConverter::Pos_Py = 4 * ImageConverter::Pos_Px;
+double ImageConverter::Pos_Iy = 4 * ImageConverter::Pos_Ix;
+double ImageConverter::Pos_Dy = 4 * ImageConverter::Pos_Dx;
+
+double ImageConverter::S_Ang_P = 0.01 * ImageConverter::Pos_Px;
+double ImageConverter::S_Ang_I = 0.01 * ImageConverter::Pos_Ix;
+double ImageConverter::S_Ang_D = 0.01 * ImageConverter::Pos_Dx;
+
+double ImageConverter::L_Ang_P = 0.7 * ImageConverter::Pos_Px;
+double ImageConverter::L_Ang_I = 0.7 * ImageConverter::Pos_Ix;
+double ImageConverter::L_Ang_D = 0.7 * ImageConverter::Pos_Dx;
 
 float ImageConverter::TheMarkerSize = -1;
 
@@ -100,9 +108,9 @@ double ImageConverter::control_signalYAW;
 
 double ImageConverter::zeroMax = .0000000000000000001;
 double ImageConverter::zeroMin = -.0000000000000000001;
-double ImageConverter::Pz_eps = .011;
+double ImageConverter::Pz_eps = .012;
 double ImageConverter::Py_eps = .0001;
-double ImageConverter::A_eps = .05;
+double ImageConverter::A_eps = .02; // ? deg.
 
 
  ImageConverter::ImageConverter() : 
@@ -282,10 +290,10 @@ void ImageConverter::ProgStart(int argc,char** argv)
 
 				if(curr_errorYAW > RefPose[3])
 				{
-					move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\)
+					move2docking(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\)
 				} else
 				{
-					move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---)
+					move2docking(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---)
 				}	
 			}
 			
@@ -428,9 +436,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
 {
        
 RefPose[0] = -.0957;
-RefPose[1] = 0.00521064;
-RefPose[2] = 0.35;
-RefPose[3] = -0.679162;
+RefPose[1] = 0.0054;
+RefPose[2] = 0.365;
+RefPose[3] = -0.65;
 
 camPose[0] = CamFB->pose.position.x;
 camPose[1] = CamFB->pose.position.y;
@@ -449,13 +457,13 @@ camPose[3] = CamFB->pose.orientation.x;
         // correspondingly ... 
         // roll in Marker coordinate => yaw in Robot coordinate
         
-        ROS_INFO_STREAM(" Zmar = " << CamFB->pose.position.z << " m. \n");
+        ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
         ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n");
         
-        ROS_INFO_STREAM(" Ymar = " << CamFB->pose.position.y << " m. \n");
+        ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n");
         ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n");
         
-        ROS_INFO_STREAM(" rollmar = " << CamFB->pose.orientation.x << " rad. \n");
+        ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n");
         ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
         
         ROS_INFO_STREAM(" ------------------------------------------------------------- \n");
@@ -498,9 +506,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
         	diffX = ((curr_errorX - prev_errorX) / dt);
         
         	// scalling
-        	p_termX = Pos_P  * curr_errorX;
-        	i_termX = Pos_I * int_errorX;
-        	d_termX = Pos_D * diffX;
+        	p_termX = Pos_Px  * curr_errorX;
+        	i_termX = Pos_Ix * int_errorX;
+        	d_termX = Pos_Dx * diffX;
         
         	// control signal
         	control_signalX = p_termX + i_termX + d_termX;
@@ -533,9 +541,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
         	diffY = ((curr_errorY - prev_errorY) / dt);
         
         	// scalling
-        	p_termY = Pos_P * curr_errorY;
-        	i_termY = Pos_I * int_errorY;
-        	d_termY = Pos_D * diffY;
+        	p_termY = Pos_Py * curr_errorY;
+        	i_termY = Pos_Iy * int_errorY;
+        	d_termY = Pos_Dy * diffY;
         
         	// control signal
         	control_signalY = p_termY + i_termY + d_termY;
@@ -567,12 +575,22 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
         
         	// differentiation
         	diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
-        
-        	// scalling
-        	p_termYAW = Ang_P * curr_errorYAW;
-        	i_termYAW = Ang_I * int_errorYAW;
-        	d_termYAW = Ang_D * diffYAW;
-        
+        	
+		if (curr_errorYAW < .08726 && curr_errorYAW > -.08726) // -5 < err < +5
+		{
+			ROS_INFO(" -5 < err < +5 \n");	        		
+			// scalling
+        		p_termYAW = S_Ang_P * curr_errorYAW;
+        		i_termYAW = S_Ang_I * int_errorYAW;
+        		d_termYAW = S_Ang_D * diffYAW;
+        	} else if (curr_errorYAW > .08726 || curr_errorYAW < -.08726) //  err > +5 or err < -5
+		{
+			ROS_INFO(" err > +5 or err < -5 \n");			
+			// scalling
+        		p_termYAW = L_Ang_P * curr_errorYAW;
+        		i_termYAW = L_Ang_I * int_errorYAW;
+        		d_termYAW = L_Ang_D * diffYAW;
+		}
         	// control signal
         	control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
         
@@ -586,16 +604,16 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
 	}
 
         //ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n");
-	//ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n");
-	ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n");
-		
+	//ROS_INFO_STREAM("RAW Control signalY = " << control_signalY << ". \n");
+	//ROS_INFO_STREAM("RAW Control signalYAW = "<< control_signalYAW <<". \n");
+	ROS_INFO_STREAM(" ------------------------------------------------------------- \n");	
 	
 	if(curr_errorYAW > RefYAW)
 	{
-		dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\)
+		dock(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\)
 	} else
 	{
-		dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---)	
+		dock(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---)	
 	}
 }
 
@@ -625,8 +643,6 @@ void ImageConverter::move2docking(double VelX_est, double VelY_est, double omega
         ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n");
         ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
         
-        //ROS_INFO(" ------- /\/\/\/\ --------- \n");
-
 	ROS_INFO(".... ESTIMATION .... !\n");
         geometry_msgs::Twist msg;
         
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
index 69dcc4766c764f4fcc3c72e4fbe6ec14c27fb58d..56678bd618ff18b4dc350f1625d076564a0c67b2 100644
--- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
+++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp
@@ -162,8 +162,8 @@ int main(int argc,char **argv){
 
 	iThresParam1=ThresParam1;
 	iThresParam2=ThresParam2;
-	cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 100, cvTackBarEvents);
-	cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 100, cvTackBarEvents);
+	cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents);
+	cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents);
 	char key=0;
 	int index=0;
 
@@ -205,8 +205,8 @@ int main(int argc,char **argv){
 			bool found = (TheMarkers.size()>0)?true:false;
 
 			if (found)  {
-				x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
-				y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
+				y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+				x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
 				z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
 				// printf("%4.2f %4.2f %4.2f\n",x_t,y_t,z_t);
 
@@ -234,8 +234,12 @@ int main(int argc,char **argv){
 
 			// See: http://en.wikipedia.org/wiki/Flight_dynamics
 			if (found){
-				printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI));
-				printf( "       Marker distance in metres:  x_d:%5.2f   y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t);
+				//printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI));
+				//printf( "       Marker distance in metres:  x_d:%5.2f   y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t);
+				ROS_INFO_STREAM("Y = " << y_t << "m. \n");
+				ROS_INFO_STREAM("        X = " << x_t << "m. \n");
+			        //ROS_INFO_STREAM("Z = " << z_t << "m. \n");
+			
 			}
 
 			if (ros::ok()){
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
index a319aea752024c95a0204dadbdb043a2bf5a6cc2..ce0df1e971d51c529545c5d86630cd096612b569 100644
--- a/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
+++ b/MobileRobot/AugReaMarker/ar_raw_detection/ar_det/src/ar_detection.cpp~
@@ -158,12 +158,12 @@ int main(int argc,char **argv){
 	cv::namedWindow("INPUT IMAGE",1);
 
 	MDetector.getThresholdParams( ThresParam1,ThresParam2);
-	MDetector.setCornerRefinementMethod(MarkerDetector::HARRIS);
+	MDetector.setCornerRefinementMethod(MarkerDetector::NONE);
 
 	iThresParam1=ThresParam1;
 	iThresParam2=ThresParam2;
-	cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 100, cvTackBarEvents);
-	cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 100, cvTackBarEvents);
+	cv::createTrackbar("ThresParam1", "INPUT IMAGE",&iThresParam1, 300, cvTackBarEvents);
+	cv::createTrackbar("ThresParam2", "INPUT IMAGE",&iThresParam2, 300, cvTackBarEvents);
 	char key=0;
 	int index=0;
 
@@ -205,8 +205,8 @@ int main(int argc,char **argv){
 			bool found = (TheMarkers.size()>0)?true:false;
 
 			if (found)  {
-				x_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
-				y_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
+				y_t = -TheMarkers[0].Tvec.at<Vec3f>(0,0)[0];
+				x_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[1];
 				z_t = TheMarkers[0].Tvec.at<Vec3f>(0,0)[2];
 				// printf("%4.2f %4.2f %4.2f\n",x_t,y_t,z_t);
 
@@ -234,8 +234,12 @@ int main(int argc,char **argv){
 
 			// See: http://en.wikipedia.org/wiki/Flight_dynamics
 			if (found){
-				printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI));
-				printf( "       Marker distance in metres:  x_d:%5.2f   y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t);
+				//printf( "Angles (deg) wrt Flight Dynamics: roll:%5.2f pitch:%5.2f yaw:%5.2f \n", (roll-r_off)*(180.0/CV_PI), (pitch-p_off)*(180.0/CV_PI), (yaw-y_off)*(180.0/CV_PI));
+				//printf( "       Marker distance in metres:  x_d:%5.2f   y_d:%5.2f z_d:%5.2f \n", x_t, y_t, z_t);
+				ROS_INFO_STREAM("X = " << x_t << "m. \n");
+				ROS_INFO_STREAM("        Y = " << y_t << "m. \n");
+			        //ROS_INFO_STREAM("Z = " << z_t << "m. \n");
+			
 			}
 
 			if (ros::ok()){
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o b/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o
index 36ace1b871ea7f4882d63946646474305fb8ea3e..f89348a836ed8d431e2fc5548c15f69710269e3f 100644
Binary files a/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o and b/MobileRobot/AugReaMarker/ar_raw_detection/build/ar_det/CMakeFiles/ar_det.dir/src/ar_detection.cpp.o differ
diff --git a/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det b/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det
index 622a5409785a426b1b6048552bb936c3b5080aff..c2a2d5e866972e2f8e849b21e8bf08c0edef38c9 100755
Binary files a/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det and b/MobileRobot/AugReaMarker/ar_raw_detection/devel/lib/ar_det/ar_det differ
diff --git a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml
index 6cf7f4ab03a27f3548fd46ebeca0b6b2dd758a7c..93fdad54b32c1048f2d700f2e6338a35ad51f69b 100644
--- a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml
+++ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml
@@ -1,795 +1,112 @@
 %YAML:1.0
-calibration_Time: "Wed Feb 24 16:50:06 2016"
-nrOfFrames: 25
-image_Width: 640
-image_Height: 480
-board_Width: 9
-board_Height: 6
-square_Size: 25.
-FixAspectRatio: 1.
-# flags:  +fix_aspectRatio +fix_principal_point +zero_tangent_dist
-flagValue: 14
-Camera_Matrix: !!opencv-matrix
+calibration_Time: "Thu Jan 28 20:49:41 2016"
+nframes: 25
+image_width: 640
+image_height: 480
+board_width: 9
+board_height: 6
+square_size: 25.
+flags: 14
+camera_matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 4.9031223533168264e+02, 0., 3.1950000000000000e+02, 0.,
-       4.9031223533168264e+02, 2.3950000000000000e+02, 0., 0., 1. ]
-Distortion_Coefficients: !!opencv-matrix
+   data: [ 4.3885336776199966e+02, 0., 3.1950000000000000e+02, 0.,
+       4.3885336776199966e+02, 2.3950000000000000e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
    rows: 5
    cols: 1
    dt: d
-   data: [ 1.4399436323751644e-01, -1.2796039720497560e-01, 0., 0.,
-       -6.0770347834399863e-01 ]
-Avg_Reprojection_Error: 8.5885035883430993e-01
-Per_View_Reprojection_Errors: !!opencv-matrix
+   data: [ 1.7935688861528923e-01, -7.7499648947306266e-01, 0., 0.,
+       7.8402390383601062e-01 ]
+avg_reprojection_error: 2.4981405385515072e+00
+per_view_reprojection_errors: !!opencv-matrix
    rows: 25
    cols: 1
    dt: f
-   data: [ 4.63754267e-01, 2.51068443e-01, 1.94270805e-01,
-       2.36312449e-01, 1.48495167e-01, 1.35369956e-01, 1.54188156e-01,
-       1.54869199e-01, 2.09137380e-01, 1.57230124e-01, 2.70036757e-01,
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-       3.82923722e+00, 8.43535066e-01, 2.39103660e-01, 2.56929129e-01,
-       3.84845018e-01, 4.58980739e-01 ]
-# a set of 6-tuples (rotation vector + translation vector) for each view
-Extrinsic_Parameters: !!opencv-matrix
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+       2.73852974e-01, 3.94171149e-01 ]
+extrinsic_parameters: !!opencv-matrix
    rows: 25
    cols: 6
    dt: d
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-Image_points: !!opencv-matrix
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-   cols: 54
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+       -2.3394065301861872e+02, 7.5144753661892264e+02,
+       1.1273837094135486e-03, -6.1575888732458639e-01,
+       -1.2754224479948082e+00, 6.9375200468555832e+01,
+       3.0327346994259688e+02, 8.7431490978361433e+02,
+       -1.5056767733379864e-01, 2.3039523071803822e-01,
+       5.9837712970107693e-01, 3.3095186728454388e+02,
+       -4.4426508544033766e+01, 8.4629506102116022e+02,
+       -3.3945221558194277e-01, -2.8178107024298621e-01,
+       -3.5188495171557188e-01, -1.8627572111444715e+02,
+       4.9773141195942181e+01, 8.1177897139585343e+02,
+       1.4466899370000827e-01, 2.1890845434322959e-01,
+       2.1328806359329011e-01, 1.4706320070518592e+02,
+       -1.0975986740782193e+02, 7.4035336582119896e+02,
+       4.8861714345717033e-01, -4.4556587270167364e-01,
+       1.0097455290209503e-01, -1.2145806617879346e+02,
+       -1.2798429440809215e+02, 5.6133507374165401e+02,
+       2.3654264178246068e-01, 3.9389292144973714e-01,
+       1.4214179205750122e-01, 2.4053435581390497e+02,
+       -1.7279635755661363e+02, 6.8273474539050335e+02,
+       6.4987254416647111e-01, -3.6293817596871580e-01,
+       1.0078523111242824e-01, -5.8606915356988907e+01,
+       -2.9455752868085062e+02, 5.7511182387312783e+02,
+       6.0310685405449205e-01, -3.5976502266231236e-01,
+       7.5167449805944517e-02, -6.3046293636116808e+01,
+       -2.5452068803618670e+02, 6.2150508517227308e+02,
+       -1.0757093992629109e-01, -3.1012141221073214e-01,
+       7.3580613719712207e-01, 9.9779658033440739e+01,
+       -2.1400709907294950e+02, 6.6232726155321564e+02,
+       2.2954511127490282e-01, -3.7211298773974766e-01,
+       -7.6145986559509349e-01, -1.2422205039530508e+02,
+       -1.0736266283214722e+02, 5.5679343451118723e+02 ]
diff --git a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~
index 93fdad54b32c1048f2d700f2e6338a35ad51f69b..6cf7f4ab03a27f3548fd46ebeca0b6b2dd758a7c 100644
--- a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~
+++ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml~
@@ -1,112 +1,795 @@
 %YAML:1.0
-calibration_Time: "Thu Jan 28 20:49:41 2016"
-nframes: 25
-image_width: 640
-image_height: 480
-board_width: 9
-board_height: 6
-square_size: 25.
-flags: 14
-camera_matrix: !!opencv-matrix
+calibration_Time: "Wed Feb 24 16:50:06 2016"
+nrOfFrames: 25
+image_Width: 640
+image_Height: 480
+board_Width: 9
+board_Height: 6
+square_Size: 25.
+FixAspectRatio: 1.
+# flags:  +fix_aspectRatio +fix_principal_point +zero_tangent_dist
+flagValue: 14
+Camera_Matrix: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 4.3885336776199966e+02, 0., 3.1950000000000000e+02, 0.,
-       4.3885336776199966e+02, 2.3950000000000000e+02, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
+   data: [ 4.9031223533168264e+02, 0., 3.1950000000000000e+02, 0.,
+       4.9031223533168264e+02, 2.3950000000000000e+02, 0., 0., 1. ]
+Distortion_Coefficients: !!opencv-matrix
    rows: 5
    cols: 1
    dt: d
-   data: [ 1.7935688861528923e-01, -7.7499648947306266e-01, 0., 0.,
-       7.8402390383601062e-01 ]
-avg_reprojection_error: 2.4981405385515072e+00
-per_view_reprojection_errors: !!opencv-matrix
+   data: [ 1.4399436323751644e-01, -1.2796039720497560e-01, 0., 0.,
+       -6.0770347834399863e-01 ]
+Avg_Reprojection_Error: 8.5885035883430993e-01
+Per_View_Reprojection_Errors: !!opencv-matrix
    rows: 25
    cols: 1
    dt: f
-   data: [ 3.57268906e+00, 3.99192119e+00, 2.90065944e-01,
-       1.16031790e+00, 1.70506015e-01, 1.46292651e+00, 1.53549254e-01,
-       4.34785396e-01, 4.56490099e-01, 1.70323861e+00, 2.52026296e+00,
-       6.90914512e-01, 2.55129194e+00, 3.63088584e+00, 3.10711956e+00,
-       6.87528706e+00, 6.26607001e-01, 5.05158520e+00, 1.98911294e-01,
-       1.09289420e+00, 2.30857044e-01, 1.05702937e+00, 2.89913940e+00,
-       2.73852974e-01, 3.94171149e-01 ]
-extrinsic_parameters: !!opencv-matrix
+   data: [ 4.63754267e-01, 2.51068443e-01, 1.94270805e-01,
+       2.36312449e-01, 1.48495167e-01, 1.35369956e-01, 1.54188156e-01,
+       1.54869199e-01, 2.09137380e-01, 1.57230124e-01, 2.70036757e-01,
+       2.94935256e-01, 3.74449730e-01, 4.51102346e-01, 6.07178628e-01,
+       9.73838270e-01, 3.79880428e-01, 1.39952153e-01, 2.66872108e-01,
+       3.82923722e+00, 8.43535066e-01, 2.39103660e-01, 2.56929129e-01,
+       3.84845018e-01, 4.58980739e-01 ]
+# a set of 6-tuples (rotation vector + translation vector) for each view
+Extrinsic_Parameters: !!opencv-matrix
    rows: 25
    cols: 6
    dt: d
-   data: [ 2.9534092898769038e-01, 6.1191203211706580e-01,
-       2.7470360197503951e-01, 3.0897767118905767e+02,
-       -2.7028243575734706e+02, 8.6565084060147069e+02,
-       2.9297173480178690e-01, 4.3627724238355592e-02,
-       2.7557341503636601e-01, 3.3116979020558648e+02,
-       -2.5617405901847133e+02, 8.2311266833216223e+02,
-       1.9960958806751974e-01, 3.1570035545892154e-02,
-       1.2708962425660275e-01, 1.6156231430746246e+02,
-       -1.4514954021277916e+02, 8.0137640295345932e+02,
-       1.7494303625327573e-01, 7.3762512539771466e-02,
-       5.0445851712512930e-02, 7.1987206587896949e+01,
-       -1.1500106245595917e+02, 8.2353927348596790e+02,
-       1.0234705790811430e-01, -1.1539621441104764e-01,
-       9.3823337675376525e-02, 3.1951578907123128e+00,
-       -7.3345485888594339e+01, 5.4473869138122870e+02,
-       1.0942603376568098e-01, -5.9318892360192710e-01,
-       9.5775466286502769e-02, -3.8823998417529481e+01,
-       -1.1592244101755368e+02, 4.9920788777776937e+02,
-       6.8545562709697624e-02, 4.7150822752278299e-01,
-       5.2612943896158552e-02, 1.5473586270837305e+02,
-       -1.0640641837833310e+02, 6.2691384100114965e+02,
-       1.5582922702769697e-01, 5.6434576422285321e-01,
-       9.5494730612276979e-02, 8.2172601659744345e+01,
-       -1.5297884236621007e+02, 5.3820013174960172e+02,
-       1.8623402210617349e-01, 2.7477364423716788e-01,
-       1.1619238784968636e-01, 1.3013169685435821e+02,
-       -1.6908286907798981e+02, 5.2732415507752728e+02,
-       2.5001935451799207e-01, 1.3919306246366922e-01,
-       1.1387570030390901e-01, 2.3011041935951960e+02,
-       -1.4881298454444874e+02, 7.9529542227003276e+02,
-       1.4906893801704874e-01, 3.2683974627624546e-01,
-       1.2784547920327755e-01, 1.9702946845625539e+02,
-       3.0672296429566011e+01, 8.5412803073139594e+02,
-       1.4661178235065710e-02, 2.2089421006768134e-01,
-       2.0889456740306961e-01, 2.1049717214878478e+02,
-       -7.5615018923352594e+01, 8.1175021107970872e+02,
-       2.0772197244104273e-01, -1.5278211730844371e-01,
-       1.6558980588750838e-01, 1.5264531308526819e+02,
-       -2.2242338564518585e+02, 7.3221106482620826e+02,
-       4.4478179836890613e-01, -1.3524735559255108e-01,
-       1.1418063426395789e-01, 2.2723916719176049e+01,
-       -2.8984849843406590e+02, 7.4605854568701341e+02,
-       2.6962448236972864e-01, -3.6959812595188313e-01,
-       -1.0281300193879095e+00, -2.2192148935621116e+01,
-       -2.3394065301861872e+02, 7.5144753661892264e+02,
-       1.1273837094135486e-03, -6.1575888732458639e-01,
-       -1.2754224479948082e+00, 6.9375200468555832e+01,
-       3.0327346994259688e+02, 8.7431490978361433e+02,
-       -1.5056767733379864e-01, 2.3039523071803822e-01,
-       5.9837712970107693e-01, 3.3095186728454388e+02,
-       -4.4426508544033766e+01, 8.4629506102116022e+02,
-       -3.3945221558194277e-01, -2.8178107024298621e-01,
-       -3.5188495171557188e-01, -1.8627572111444715e+02,
-       4.9773141195942181e+01, 8.1177897139585343e+02,
-       1.4466899370000827e-01, 2.1890845434322959e-01,
-       2.1328806359329011e-01, 1.4706320070518592e+02,
-       -1.0975986740782193e+02, 7.4035336582119896e+02,
-       4.8861714345717033e-01, -4.4556587270167364e-01,
-       1.0097455290209503e-01, -1.2145806617879346e+02,
-       -1.2798429440809215e+02, 5.6133507374165401e+02,
-       2.3654264178246068e-01, 3.9389292144973714e-01,
-       1.4214179205750122e-01, 2.4053435581390497e+02,
-       -1.7279635755661363e+02, 6.8273474539050335e+02,
-       6.4987254416647111e-01, -3.6293817596871580e-01,
-       1.0078523111242824e-01, -5.8606915356988907e+01,
-       -2.9455752868085062e+02, 5.7511182387312783e+02,
-       6.0310685405449205e-01, -3.5976502266231236e-01,
-       7.5167449805944517e-02, -6.3046293636116808e+01,
-       -2.5452068803618670e+02, 6.2150508517227308e+02,
-       -1.0757093992629109e-01, -3.1012141221073214e-01,
-       7.3580613719712207e-01, 9.9779658033440739e+01,
-       -2.1400709907294950e+02, 6.6232726155321564e+02,
-       2.2954511127490282e-01, -3.7211298773974766e-01,
-       -7.6145986559509349e-01, -1.2422205039530508e+02,
-       -1.0736266283214722e+02, 5.5679343451118723e+02 ]
+   data: [ 1.8923966409045856e-01, -5.9263026337349214e-02,
+       -5.5447402355783798e-02, 2.7874075809839418e+01,
+       -1.1152107241743346e+02, 4.5092522510214792e+02,
+       -6.1009763816119944e-02, 8.4584208324062646e-02,
+       -2.3753083225557373e-02, -8.9229738353895812e+01,
+       1.4259750662732321e-01, 4.7842178632945775e+02,
+       1.6061635045613042e-02, -3.1360183045516514e-02,
+       5.7545199933209745e-01, -3.4264560413489967e+01,
+       -2.9009355840602154e+01, 4.8024560517521252e+02,
+       4.7284634320830285e-02, 1.1336120978834484e-02,
+       6.5001844819239530e-03, -1.3616649935815940e+02,
+       4.8907407442446718e+01, 6.9905436498003246e+02,
+       -1.3481398810630506e-02, 2.7661824641330691e-02,
+       1.0348929661214391e-01, -6.2914889137982058e+01,
+       -3.9428076900305570e+01, 5.6354676121160264e+02,
+       1.2134046333239003e-01, 4.2493881304471415e-01,
+       7.8284039497573543e-01, 4.0086429470700828e+01,
+       -1.1210792224345958e+02, 5.5396215134530757e+02,
+       2.5439354623058785e-01, 2.4685733826096581e-01,
+       1.0340070498722309e+00, 3.9588105078662011e+01,
+       -9.3651272506257229e+01, 5.6953773232739809e+02,
+       1.9145856274273573e-01, 2.7102735078151530e-01,
+       1.0686472987743545e+00, 4.7541720701685499e+01,
+       -7.9542793313626902e+01, 5.5532268330871727e+02,
+       1.9853453804526386e-01, 3.3106752687951291e-01,
+       1.0785027201533461e+00, 4.9789679283026622e+01,
+       -5.7838005846450514e+01, 5.0676981123974298e+02,
+       1.6686317996961578e-01, 1.9423930839827214e-01,
+       1.2235337747751629e+00, 7.1675665139074411e+01,
+       -6.7487440154643821e+01, 4.7797676629482874e+02,
+       1.6291232758218754e-01, 1.6929667605531057e-01,
+       1.2346715506304411e+00, 1.0764338164758738e+02,
+       -1.0071811999107857e+02, 4.7429102614734296e+02,
+       1.5176990686024414e-01, 1.5314911758440294e-01,
+       8.0764947400933995e-01, 9.3279250242502840e+01,
+       -1.2715203126882410e+02, 4.6679279909445575e+02,
+       2.1003296192415075e-01, -2.6434326639116379e-01,
+       9.5518109356515934e-01, 1.0240764776058965e+02,
+       -7.1456914988466806e+01, 4.3340106920392049e+02,
+       4.3614349579349548e-01, -5.9353299934234091e-02,
+       3.0579618393243646e-01, -1.6847216606323681e+01,
+       -4.0453942608256366e+00, 4.4248950834552744e+02,
+       1.6159617449708488e-01, 5.2036240579882674e-02,
+       -5.3611263407493226e-01, -1.0159746494387110e+02,
+       7.1890271875039005e+01, 4.5731200931251885e+02,
+       4.2112818025525218e-04, 7.1412875837727707e-02,
+       -7.0824646529310231e-01, -9.9766741193836410e+01,
+       7.5909468155715729e+01, 4.4588658867196244e+02,
+       2.9917557405469430e-01, -2.3437784142947046e-01,
+       -5.1089376549124965e-01, -6.0930167351677511e+01,
+       8.0062994232988459e+01, 4.4070820556434415e+02,
+       1.5791690118751867e-01, 2.6360030285898423e-01,
+       -1.4526447973018183e-01, -5.7582380928050647e+01,
+       1.7605125753799253e+01, 5.5459623483380972e+02,
+       3.7255025741751141e-01, -7.0259703469686685e-03,
+       7.8540123514505539e-02, -5.6107323607075742e+01,
+       2.7208800219665196e+01, 4.9197968453971873e+02,
+       7.2235291597614959e-01, -2.1396494477087177e-01,
+       4.2774063267059362e-02, -5.3011405040611635e+01,
+       7.2192675012169715e+01, 4.6138695039092016e+02,
+       7.4704087168359290e-01, -3.3392265948499145e-01,
+       9.6659781205420403e-02, -6.8367029172198571e+01,
+       -5.1814563364481998e+00, 4.4254408633358679e+02,
+       -2.8122507238725974e-01, 1.3865558864601904e-01,
+       -8.1255913392311252e-02, 4.9363035687048811e+00,
+       -2.2494029028835478e+00, 5.1353435793282779e+02,
+       -3.0738689905183186e-01, 5.7432216952678500e-02,
+       -3.5022700320948919e-03, 9.6773852301653374e-01,
+       -1.7851329331416846e+01, 5.0275920778021913e+02,
+       -4.8627664397269438e-01, 1.9727585226926433e-01,
+       2.3968344015062586e-02, 5.6466264923992471e+00,
+       -4.4557264796414614e+01, 5.7493033674304286e+02,
+       -6.9802795983631124e-03, -3.4188564071599226e-01,
+       9.3114972384039860e-02, 1.2637072078146194e+00,
+       -2.0225468186863399e+01, 5.2340161753081816e+02 ]
+Image_points: !!opencv-matrix
+   rows: 25
+   cols: 54
+   dt: "2f"
+   data: [ 3.50912659e+02, 1.17682838e+02, 3.78039246e+02,
+       1.15972435e+02, 4.04980225e+02, 1.14309250e+02, 4.32058807e+02,
+       1.12613556e+02, 4.58890076e+02, 1.10795570e+02, 4.85477325e+02,
+       1.09394180e+02, 5.12204651e+02, 1.08031021e+02, 5.38325256e+02,
+       1.06664421e+02, 5.63953003e+02, 1.05330032e+02, 3.51645111e+02,
+       1.45724625e+02, 3.78316193e+02, 1.44178574e+02, 4.04956055e+02,
+       1.42436249e+02, 4.31699249e+02, 1.40699951e+02, 4.58407104e+02,
+       1.38902878e+02, 4.85082581e+02, 1.37236526e+02, 5.11807465e+02,
+       1.35640396e+02, 5.37705139e+02, 1.34332474e+02, 5.63479065e+02,
+       1.32973206e+02, 3.52450867e+02, 1.72876694e+02, 3.78738739e+02,
+       1.71357681e+02, 4.04985107e+02, 1.69735321e+02, 4.31621887e+02,
+       1.67916794e+02, 4.58219757e+02, 1.66089447e+02, 4.84660217e+02,
+       1.64551315e+02, 5.11374207e+02, 1.62903030e+02, 5.37112183e+02,
+       1.61490433e+02, 5.62925598e+02, 1.59982391e+02, 3.53169250e+02,
+       1.99531647e+02, 3.79170197e+02, 1.98039734e+02, 4.05129120e+02,
+       1.96513367e+02, 4.31428864e+02, 1.94843750e+02, 4.57625916e+02,
+       1.93231277e+02, 4.84053375e+02, 1.91481384e+02, 5.10639038e+02,
+       1.89817444e+02, 5.36300354e+02, 1.88436142e+02, 5.61916870e+02,
+       1.86971741e+02, 3.53776245e+02, 2.25325790e+02, 3.79393341e+02,
+       2.23890701e+02, 4.05242310e+02, 2.22462296e+02, 4.31329376e+02,
+       2.20870178e+02, 4.57449615e+02, 2.19291977e+02, 4.83488983e+02,
+       2.17687943e+02, 5.09777740e+02, 2.16242035e+02, 5.35446045e+02,
+       2.14674957e+02, 5.60870544e+02, 2.13212677e+02, 3.54401306e+02,
+       2.50488113e+02, 3.79910797e+02, 2.49144318e+02, 4.05184021e+02,
+       2.47741165e+02, 4.31125732e+02, 2.46308182e+02, 4.56879486e+02,
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