diff --git a/GPU_version/vio/include/vio/cl_class.h b/GPU_version/vio/include/vio/cl_class.h
index 99b6168..eb62562 100644
--- a/GPU_version/vio/include/vio/cl_class.h
+++ b/GPU_version/vio/include/vio/cl_class.h
@@ -12,6 +12,7 @@
 #include <exception>
 #include <CL/opencl.h>
 #include <opencv2/opencv.hpp>
+#include <vio/abstract_camera.h>
 
 class kernel{
 public:
@@ -114,7 +115,7 @@ public:
 };
 class opencl{
 public:
-    opencl();
+    opencl(vk::AbstractCamera* cam);
     ~opencl();
     int32_t make_kernel(std::string name){_kernels.push_back(kernel(program,name));};
     template<typename T>
@@ -195,6 +196,7 @@ private:
     cl::Device* device = nullptr;
     cl::Program* program = nullptr;
     cl::CommandQueue* queue= nullptr;
+    vk::AbstractCamera* cam= nullptr;
 };
 
 #endif //VIO_OPENCL_CL_CLASS_H
diff --git a/GPU_version/vio/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp
index c47c8be..46cb4bd 100644
--- a/GPU_version/vio/src/cl_class.cpp
+++ b/GPU_version/vio/src/cl_class.cpp
@@ -2,7 +2,7 @@
 // Created by root on 4/27/21.
 //
 #include <vio/cl_class.h>
-opencl::opencl() {
+opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
     std::vector<cl::Platform> all_platforms;
     cl::Platform::get(&all_platforms);
     if (all_platforms.size() == 0){
@@ -27,7 +27,6 @@ opencl::opencl() {
               << "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n'
               << "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n'
               << "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n';
-
     context=new cl::Context({ *device });
     cl::Program::Sources sources;
     read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl");
@@ -35,7 +34,13 @@ opencl::opencl() {
     read_cl compute_residual(std::string(KERNEL_DIR)+"/compute-residual.cl");
     sources.push_back({ compute_residual.src_str, compute_residual.size });
     program=new cl::Program(*context, sources);
-    if(program->build({ *device },"-DFAST_THRESH=40 -DPATCH_SIZE=2 -DPATCH_HALFSIZE=1 -DF_X=296.724480 -DF_Y=395.357280 -DC_X=317.877600 -DC_Y=238.752640 -DS=1.016870") !=0)
+    double* camera=cam->params();
+    std::string options="-DFAST_THRESH=40 -DPATCH_SIZE=2 -DPATCH_HALFSIZE=1 -DF_X="+ std::to_string(camera[0]) +
+                        " -DF_Y="+std::to_string(camera[1])+
+                        " -DC_X="+std::to_string(camera[2])+
+                        " -DC_Y="+std::to_string(camera[3])+
+                        " -DS="+std::to_string(camera[4]);
+    if(program->build({ *device },options.c_str()) !=0)
         std::cout << " Error building: " << program->getBuildInfo<CL_PROGRAM_BUILD_STATUS>(*device)<<'\n'
                   <<program->getBuildInfo<CL_PROGRAM_BUILD_LOG>(*device) << '\n';
     queue=new cl::CommandQueue(*context,*device,CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE,NULL);
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index 0b4950a..84cb7b3 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -36,7 +36,7 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix<double,
   ukfPtr_(init),
   time_(ros::Time::now())
 {
-    gpu_fast_= new opencl();
+    gpu_fast_= new opencl(cam_);
     gpu_fast_->make_kernel("fast_gray");
     cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
     gpu_fast_->write_buf(0,0,img);