diff --git a/.gitignore b/.gitignore
index 602012e..a3d2f53 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,4 +7,5 @@ project
 sensing/slam/vio/VINS-Fusion/camera_models/camera_calib_example
 .gitee
 .vscode
-.idea
\ No newline at end of file
+.idea
+sensing/slam/vslam/evaluate
\ No newline at end of file
diff --git a/sensing/slam/vslam/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml b/sensing/slam/vslam/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml
index d83e34a..63912b9 100644
--- a/sensing/slam/vslam/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml
+++ b/sensing/slam/vslam/ORB_SLAM2/Examples/Stereo/px4_sitl.yaml
@@ -7,13 +7,13 @@
 # Camera calibration and distortion parameters (OpenCV) 
 Camera.fx: 376.0
 Camera.fy: 376.0
-Camera.cx: 376.0
+Camera.cx: 375.87198639
 Camera.cy: 240.0
 
-Camera.k1: -0.01
-Camera.k2: 0.004
-Camera.p1: 5e-5
-Camera.p2: -1e-4
+Camera.k1: 0
+Camera.k2: 0
+Camera.p1: 0
+Camera.p2: 0
 
 Camera.width: 752
 Camera.height: 480