diff --git a/demos/camera_euroc_mav0.yaml b/demos/camera_euroc_mav0.yaml
deleted file mode 100644
index c689897c35a232f0879ee4be4c98facc62b53e43..0000000000000000000000000000000000000000
--- a/demos/camera_euroc_mav0.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-width: 752
-height: 480
-camera_name: narrow_stereo
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [458, 0.000000, 367.215, 
-         0.000000, 457.296, 248.375, 
-         0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.28340811, 0.07395907, 0.000000, 0.000000, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [458, 0.000000, 367.215, 0.000000, 
-         0.000000, 457.296, 248.375, 0.000000, 
-         0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_euroc_mav0_notang.yaml b/demos/camera_euroc_mav0_notang.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ace83297fb7c2ebca132d0f116ee46ecb4f0b18e
--- /dev/null
+++ b/demos/camera_euroc_mav0_notang.yaml
@@ -0,0 +1,26 @@
+width: 752
+height: 480
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [458, 0.000000, 367.215,
+         0.000000, 457.296, 248.375,
+         0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.28340811, 0.07395907, 0.00019359, 0.0, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.000000, 0.000000, 0.000000,
+         0.000000, 1.000000, 0.000000,
+         0.000000, 0.000000, 1.000000]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [355.63, 0.000000, 362.27, 0.000000,
+         0.000000, 417.16, 249.65, 0.000000,
+         0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/demo_visual_odometry.yaml b/demos/demo_visual_odometry.yaml
index 44fd5a69e358376473895475b7761a6f1d848478..bfdc5d18b3e4ea847084783a7c3a821fd541b7df 100644
--- a/demos/demo_visual_odometry.yaml
+++ b/demos/demo_visual_odometry.yaml
@@ -38,7 +38,8 @@ config:
       name:               "sen cam"
       extrinsic: 
         pose:             [0,0,0, 0,0,0,1]
-      follow:             "demos/camera_euroc_mav0.yaml"         # config parameters in this file
+      using_raw:          true
+      follow:             "demos/camera_euroc_mav0_notang.yaml"         # config parameters in this file
 
   processors: