Thanks @krs and @Malar, combining your answers I figured out how to do this:
local function updateFrame(event)
local speed = fish.x - lfx
lfx = fish.x
camera.x = -fish.x + screenWidth / 2
bg1.x = bg1.x - speed
bg2.x = bg2.x - speed
if bg1.x + bg1.width < 0 then
bg1.x = bg1.x + screenWidth * 2
end
if bg2.x + bg2.width < 0 then
bg2.x = bg2.x + screenWidth * 2
end
if bg1.x - bg1.width > 0 then
bg1.x = bg1.x - screenWidth * 2
end
if bg2.x - bg2.width > 0 then
bg2.x = bg2.x - screenWidth * 2
end
end
Runtime:addEventListener( "enterFrame", updateFrame );
Starting positions:
bg1.x = screenLeft
bg2.x = bg1.x + bg1.width
And the last most important change: I put bg1, bg2 and camera into a group and other objects into camera group:
local camera = require("camera")
group = display.newGroup()
group:insert(bg1)
group:insert(bg2)
camera:insert(fish)
camera:insert(ground)
group:insert(camera)
So we have ground and fish, which can move forever, but the backgrounds are only moving from -screenWidth to screenWidth.
All these things combined works like a charm!