diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h
index 3cdc53a..477f7d9 100644
--- a/GPU_version/vio/include/vio/frame.h
+++ b/GPU_version/vio/include/vio/frame.h
@@ -131,7 +131,7 @@ public:
       q = AngleAxisd(atan2(inv.so2().unit_complex().imag(),inv.so2().unit_complex().real()), Vector3d::UnitX())
           * AngleAxisd(0.261799, Vector3d::UnitY())
           * AngleAxisd(0.0, Vector3d::UnitZ());
-      SE3 out(q.toRotationMatrix(),Vector3d(inv.translation()(0),1e-19,inv.translation()(1)));
+      SE3 out(q.toRotationMatrix(),Vector3d(0.0,inv.translation()(0),inv.translation()(1)));
       return out;
 
   }
diff --git a/GPU_version/vio/include/vio/global.h b/GPU_version/vio/include/vio/global.h
index d4305f4..59d1438 100644
--- a/GPU_version/vio/include/vio/global.h
+++ b/GPU_version/vio/include/vio/global.h
@@ -95,7 +95,7 @@ namespace vio
             q = AngleAxisd(pitch(), Vector3d::UnitX())
                 * AngleAxisd(0.261799, Vector3d::UnitY())
                 * AngleAxisd(0.0, Vector3d::UnitZ());
-            return SE3(q.toRotationMatrix(),Vector3d(T2_.translation()(0),1e-19,T2_.translation()(1)));
+            return SE3(q.toRotationMatrix(),Vector3d(1e-19,T2_.translation()(0),T2_.translation()(1)));
         }
         ~SE2_5(){}
 
diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp
index 71ca074..947f472 100644
--- a/GPU_version/vio/src/depth_filter.cpp
+++ b/GPU_version/vio/src/depth_filter.cpp
@@ -221,7 +221,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
     q = AngleAxisd(atan2(T.so2().unit_complex().imag(),T.so2().unit_complex().real()), Vector3d::UnitX())
           * AngleAxisd(0.261799, Vector3d::UnitY())
           * AngleAxisd(0.0, Vector3d::UnitZ());
-    SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(T.translation()(0),0.0,T.translation()(1)));
+    SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(0.0,T.translation()(0),T.translation()(1)));
     const Vector3d xyz_f(T_ref_cur.inverse()*(1.0/it->mu * it->ftr->f) );
     if(xyz_f.z() < 0.0)  {
       ++it; // behind the camera
diff --git a/GPU_version/vio/src/homography.cpp b/GPU_version/vio/src/homography.cpp
index 4044496..87e0850 100644
--- a/GPU_version/vio/src/homography.cpp
+++ b/GPU_version/vio/src/homography.cpp
@@ -91,7 +91,7 @@ namespace vk {
         q.w() *= 1/q.norm();
         q.x()=0.0;
         q.z()=0.0;
-        T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(decompositions.front().T.translation().x(),0.0,decompositions.front().T.translation().z()));
+        T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(0.0,decompositions.front().T.translation().x(),decompositions.front().T.translation().z()));
         return true;
     }