diff --git a/config/camchain-imucam-tum-scaled.yaml b/config/camchain-imucam-tum-scaled.yaml
index 529828c..01f1983 100644
--- a/config/camchain-imucam-tum-scaled.yaml
+++ b/config/camchain-imucam-tum-scaled.yaml
@@ -5,11 +5,11 @@ cam0:
       -0.029453096117288798,  -0.9989836729399656,  0.034119442089241274,  -0.0697294754693238,
       0.0,                    0.0,                  0.0,                   1.0]
   camera_model: pinhole
-  distortion_coeffs: [0.010171079892421483, -0.010816440029919381, 0.005942781769412756,
-    -0.001662284667857643]
+  distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
+    0.00020293673591811182]
   distortion_model: equidistant
-  intrinsics: [95.2026071784, 95.2029854486, 127.573663262, 128.582615763]
-  resolution: [256, 256]
+  intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
+  resolution: [512, 512]
   rostopic: /cam0/image_raw
 cam1:
   T_cam_imu:
@@ -23,11 +23,11 @@ cam1:
     0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
     0.0, 0.0, 0.0, 1.0]
   camera_model: pinhole
-  distortion_coeffs: [0.01371679169245271, -0.015567360615942622, 0.00905043103315326,
-    -0.002347858896562788]
+  distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
+    0.0003299517423931039]
   distortion_model: equidistant
-  intrinsics: [94.8217471066, 94.8164593555, 126.391667581, 127.571024044]
-  resolution: [256, 256]
+  intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
+  resolution: [512, 512]
   rostopic: /cam1/image_raw
 T_imu_body:
   [1.0000, 0.0000, 0.0000, 0.0000,
diff --git a/launch/image_processor_tinytum.launch b/launch/image_processor_tinytum.launch
index 6fe2855..53dd99a 100644
--- a/launch/image_processor_tinytum.launch
+++ b/launch/image_processor_tinytum.launch
@@ -25,8 +25,8 @@
       <param name="stereo_threshold" value="5"/>
 
       <remap from="~imu" to="/imu0"/>
-      <remap from="~cam0_image" to="/cam0/new_image_raw"/>
-      <remap from="~cam1_image" to="/cam1/new_image_raw"/>
+      <remap from="~cam0_image" to="/cam0/image_raw"/>
+      <remap from="~cam1_image" to="/cam1/image_raw"/>
 
     </node>
   </group>
diff --git a/launch/msckf_vio_tum.launch b/launch/msckf_vio_tum.launch
index 390ab03..0240de3 100644
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@@ -18,11 +18,11 @@
       output="screen">
 
       <!-- Photometry Flag-->
-      <param name="PHOTOMETRIC" value="true"/>
+      <param name="PHOTOMETRIC" value="false"/>
 
       <!-- Debugging Flaggs -->
       <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="true"/>
+      <param name="PrintImages" value="false"/>
       <param name="GroundTruth" value="false"/>
 
       <param name="patch_size_n" value="5"/>
@@ -72,6 +72,6 @@
     </node>
   </group>
 
-  <node name="player" pkg="bagcontrol" type="control.py" />
+  <!--node name="player" pkg="bagcontrol" type="control.py" /-->
 
 </launch>
diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index 323e791..b6245e2 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1664,10 +1664,29 @@ void MsckfVio::featureJacobian(
   {
 
     ofstream myfile;
-    myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
-    myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
+    myfile.open("/home/raphael/dev/octave/org2octave");
+    myfile << "# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>\n"
+           << "# name: Hx\n"
+           << "# type: matrix\n"
+           << "# rows: " << H_xj.rows() << "\n"
+           << "# columns: " << H_xj.cols() << "\n"
+           << H_xj << endl;
+
+    myfile << "# name: Hy\n"
+           << "# type: matrix\n"
+           << "# rows: " << H_fj.rows() << "\n"  
+           << "# columns: " << H_fj.cols() << "\n"
+           << H_fj << endl;
+
+
+    myfile << "# name: r\n"
+           << "# type: matrix\n"
+           << "# rows: " << r_j.rows() << "\n"  
+           << "# columns: " << 1 << "\n"
+           << r_j << endl;
+
     myfile.close();
-    cout << "---------- LOGGED -------- " << endl; 
+    cout << "---------- LOGGED ORG -------- " << endl; 
   }
 
   return;
@@ -1716,8 +1735,8 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
   MatrixXd K = K_transpose.transpose();
   // Compute the error of the state.
   VectorXd delta_x = K * r;
-  cout << "reg rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
-  cout << "reg update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
+  // cout << "reg rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
+  // cout << "reg update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
   // Update the IMU state.
 
   if(PHOTOMETRIC) return;
@@ -1821,8 +1840,8 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
   // Compute the error of the state.
 
   VectorXd delta_x = K * r;
-  cout << "msc rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
-  cout << "msc update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
+  // cout << "msc rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
+  // cout << "msc update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
   // Update the IMU state.
   if (not PHOTOMETRIC) return;