diff --git a/yaml/camera_euroc_mav0.yaml b/yaml/camera_euroc_mav0.yaml
index 1fdeacdb4705d6c1c4e43736578a01c697c2d7bb..09cb584c0cba93570237d8e7f82e8897b1bcf4bd 100644
--- a/yaml/camera_euroc_mav0.yaml
+++ b/yaml/camera_euroc_mav0.yaml
@@ -11,7 +11,7 @@ distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.000000]
+  data: [-0.28340811, 0.07395907, 0.00019359, 0.0000176187114, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
diff --git a/yaml/camera_euroc_mav0_notangdist.yaml b/yaml/camera_euroc_mav0_notangdist.yaml
deleted file mode 100644
index ace83297fb7c2ebca132d0f116ee46ecb4f0b18e..0000000000000000000000000000000000000000
--- a/yaml/camera_euroc_mav0_notangdist.yaml
+++ /dev/null
@@ -1,26 +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, 0.00019359, 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/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 185118f47c174768f8b92e619b459cb81e8baf6f..d45e6352dd2d369584b2dd7997546c18e3898cae 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -36,7 +36,7 @@ config:
       extrinsic:
         pose: [0,0,0,  0,0,0,1]
       using_raw: false
-      follow: "camera_euroc_mav0_notangdist.yaml"
+      follow: "camera_euroc_mav0.yaml"
 
   processors:
     -