diff --git a/android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java b/android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java
index 4cceb87..32b9267 100644
--- a/android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java
+++ b/android_core_components/src/main/java/org/ros/android/view/camera/CameraPreviewView.java
@@ -96,7 +96,7 @@ public class CameraPreviewView {
   private void setupCameraParameters() {
     Camera.Parameters parameters = camera.getParameters();
     List<Size> supportedPreviewSizes = parameters.getSupportedPreviewSizes();
-    previewSize = getOptimalPreviewSize(supportedPreviewSizes, 1920, 1080);
+    previewSize = getOptimalPreviewSize(supportedPreviewSizes, 640, 480);
     parameters.setPreviewSize(previewSize.width, previewSize.height);
     parameters.setPreviewFormat(ImageFormat.NV21);
     camera.setParameters(parameters);
diff --git a/android_tutorial_camera/src/org/ros/android/android_tutorial_camera/MainActivity.java b/android_tutorial_camera/src/org/ros/android/android_tutorial_camera/MainActivity.java
index 953ec04..81a08ed 100644
--- a/android_tutorial_camera/src/org/ros/android/android_tutorial_camera/MainActivity.java
+++ b/android_tutorial_camera/src/org/ros/android/android_tutorial_camera/MainActivity.java
@@ -50,7 +50,7 @@ public class MainActivity extends RosActivity {
     requestWindowFeature(Window.FEATURE_NO_TITLE);
     getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
     setContentView(R.layout.main);
-    rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
+    //rosCameraPreviewView = (RosCameraPreviewView) findViewById(R.id.ros_camera_preview_view);
   }
 
   @Override
diff --git a/android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java b/android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java
index 9038f89..e43dfde 100644
--- a/android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java
+++ b/android_tutorial_camera_imu/src/main/java/org/ros/android/android_tutorial_camera_imu/MainActivity.java
@@ -172,10 +172,10 @@ public class MainActivity extends RosActivity {
         Camera.Parameters camParams = cam.getParameters();
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.ICE_CREAM_SANDWICH) {
             if (camParams.getSupportedFocusModes().contains(
-                    Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO)) {
-                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_VIDEO);
+                    Camera.Parameters.FOCUS_MODE_INFINITY)) {
+                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_INFINITY);
             } else {
-                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_CONTINUOUS_PICTURE);
+                camParams.setFocusMode(Camera.Parameters.FOCUS_MODE_INFINITY);
             }
         }
         //cam.setParameters(camParams);