diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h
index 52b8f0f..2018872 100644
--- a/GPU_version/vio/include/vio/frame.h
+++ b/GPU_version/vio/include/vio/frame.h
@@ -128,10 +128,10 @@ namespace vio {
             //TODO add 15 degree roll orientation
             SE2 inv=T_f_w_.inverse();
             Quaterniond q;
-            q = AngleAxisd(atan2(inv.so2().unit_complex().imag(),inv.so2().unit_complex().real()), Vector3d::UnitX())
-                * AngleAxisd(0.261799, Vector3d::UnitY())
+            q = AngleAxisd(0.261799, Vector3d::UnitX())
+                * AngleAxisd(atan2(inv.so2().unit_complex().imag(),inv.so2().unit_complex().real()), Vector3d::UnitY())
                 * AngleAxisd(0.0, Vector3d::UnitZ());
-            SE3 out(q.toRotationMatrix(),Vector3d(0.0,inv.translation()(0),inv.translation()(1)));
+            SE3 out(q.toRotationMatrix(),Vector3d(inv.translation()(0),0.0,inv.translation()(1)));
             return out;
 
         }
diff --git a/GPU_version/vio/include/vio/global.h b/GPU_version/vio/include/vio/global.h
index c78eb5a..f115137 100644
--- a/GPU_version/vio/include/vio/global.h
+++ b/GPU_version/vio/include/vio/global.h
@@ -92,10 +92,10 @@ namespace vio
         SE3 se3() const{
             //Todo add 15 roll orientation
             Quaterniond q;
-            q = AngleAxisd(pitch(), Vector3d::UnitX())
-                * AngleAxisd(0.261799, Vector3d::UnitY())
+            q = AngleAxisd(0.261799, Vector3d::UnitX())
+                * AngleAxisd(pitch(), Vector3d::UnitY())
                 * AngleAxisd(0.0, Vector3d::UnitZ());
-            return SE3(q.toRotationMatrix(),Vector3d(1e-19,T2_.translation()(0),T2_.translation()(1)));
+            return SE3(q.toRotationMatrix(),Vector3d(T2_.translation()(0), 0.0,T2_.translation()(1)));
         }
         ~SE2_5(){}
 
diff --git a/GPU_version/vio/kernel/compute-residual.cl b/GPU_version/vio/kernel/compute-residual.cl
index 948e057..f614ae1 100644
--- a/GPU_version/vio/kernel/compute-residual.cl
+++ b/GPU_version/vio/kernel/compute-residual.cl
@@ -31,8 +31,8 @@ float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature)
     float R20=-sin(pitch);//-sin(pitch)
     float R21=cos(pitch)*sin(roll);//0
     float R22=cos(pitch)*cos(roll);//cos(pitch)
-    return  (float3)(R00*ref_feature.x+R01*ref_feature.y+R02*ref_feature.z,
-                     R10*ref_feature.x+R11*ref_feature.y+R12*ref_feature.z+error.x,
+    return  (float3)(R00*ref_feature.x+R01*ref_feature.y+R02*ref_feature.z+error.x,
+                     R10*ref_feature.x+R11*ref_feature.y+R12*ref_feature.z,
                      R20*ref_feature.x+R21*ref_feature.y+R22*ref_feature.z+error.y);
 /*
     if(ref.z < 0.0)
@@ -112,7 +112,7 @@ float2 uv_ref_i = floor(uv_ref);
 if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref).x || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref).y)return;
 // evaluate projection jacobian
 float frame_jac[6]={0.0}; // 2X3
-jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(0.0, ref_pose[0].x, ref_pose[0].y), 2.0)), &frame_jac);
+jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (float3)(ref_pose[0].x, 0.0, ref_pose[0].y), 2.0)), &frame_jac);
 
 // compute bilateral interpolation weights for reference image
 float2 subpix=  uv_ref - uv_ref_i;
diff --git a/GPU_version/vio/src/depth_filter.cpp b/GPU_version/vio/src/depth_filter.cpp
index 2264590..62fa181 100644
--- a/GPU_version/vio/src/depth_filter.cpp
+++ b/GPU_version/vio/src/depth_filter.cpp
@@ -218,10 +218,10 @@ namespace vio {
             SE2 T(it->ftr->frame->T_f_w_.pitch()-frame->T_f_w_.pitch(),it->ftr->frame->T_f_w_.se2().translation()- frame->T_f_w_.se2().translation());
             ///TODO add 15 degrees roll orientation
             Quaterniond q;
-            q = AngleAxisd(atan2(T.so2().unit_complex().imag(),T.so2().unit_complex().real()), Vector3d::UnitX())
-                * AngleAxisd(0.261799, Vector3d::UnitY())
+            q = AngleAxisd(0.261799, Vector3d::UnitX())
+                * AngleAxisd(atan2(T.so2().unit_complex().imag(),T.so2().unit_complex().real()), Vector3d::UnitY())
                 * AngleAxisd(0.0, Vector3d::UnitZ());
-            SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(0.0,T.translation()(0),T.translation()(1)));
+            SE3 T_ref_cur(q.toRotationMatrix(),Vector3d(T.translation()(0), 0.0,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 05f8f46..c2263bc 100644
--- a/GPU_version/vio/src/homography.cpp
+++ b/GPU_version/vio/src/homography.cpp
@@ -92,7 +92,7 @@ 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(0.0,decompositions.front().T.translation().x(),decompositions.front().T.translation().z()));
+        T_c2_from_c1=Sophus::SE3(q.toRotationMatrix(),Eigen::Vector3d(decompositions.front().T.translation().x(), 0.0,decompositions.front().T.translation().z()));
         return true;
     }