diff --git a/corelib/include/rtabmap/core/camera/CameraRealSense2.h b/corelib/include/rtabmap/core/camera/CameraRealSense2.h
index ed7b333f..4e8cfec9 100644
--- a/corelib/include/rtabmap/core/camera/CameraRealSense2.h
+++ b/corelib/include/rtabmap/core/camera/CameraRealSense2.h
@@ -114,6 +114,8 @@ private:
 	std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
 	UMutex poseMutex_;
 	UMutex imuMutex_;
+	double hostStartStamp_;
+	double cameraStartStamp_;
 
 	bool emitterEnabled_;
 	bool irDepth_;
diff --git a/corelib/src/camera/CameraRealSense2.cpp b/corelib/src/camera/CameraRealSense2.cpp
index 94078dc3..84a97185 100644
--- a/corelib/src/camera/CameraRealSense2.cpp
+++ b/corelib/src/camera/CameraRealSense2.cpp
@@ -64,6 +64,8 @@ CameraRealSense2::CameraRealSense2(
 	depthIntrinsics_(new rs2_intrinsics),
 	rgbIntrinsics_(new rs2_intrinsics),
 	depthToRGBExtrinsics_(new rs2_extrinsics),
+	hostStartStamp_(0.0),
+	cameraStartStamp_(0.0),
 	emitterEnabled_(true),
 	irDepth_(false),
 	rectifyImages_(true),
@@ -79,26 +81,50 @@ CameraRealSense2::CameraRealSense2(
 CameraRealSense2::~CameraRealSense2()
 {
 #ifdef RTABMAP_REALSENSE2
-	for(rs2::sensor _sensor : dev_->query_sensors())
+	try
 	{
-		try
+		for(rs2::sensor _sensor : dev_->query_sensors())
 		{
-			_sensor.stop();
-			_sensor.close();
-		}
-		catch(const rs2::wrong_api_call_sequence_error & error)
-		{
-			UINFO("%s", error.what());
+			try
+			{
+				_sensor.stop();
+				_sensor.close();
+			}
+			catch(const rs2::error & error)
+			{
+				UWARN("%s", error.what());
+			}
 		}
 	}
-	delete ctx_;
-	delete dev_;
-	delete syncer_;
+	catch(const rs2::error & error)
+	{
+		UINFO("%s", error.what());
+	}
+	try {
+		delete ctx_;
+	}
+	catch(const rs2::error & error)
+	{
+		UWARN("%s", error.what());
+	}
+	try {
+		delete dev_;
+	}
+	catch(const rs2::error & error)
+	{
+		UWARN("%s", error.what());
+	}
+	try {
+		delete syncer_;
+	}
+	catch(const rs2::error & error)
+	{
+		UWARN("%s", error.what());
+	}
 	delete depthIntrinsics_;
 	delete rgbIntrinsics_;
 	delete depthToRGBExtrinsics_;
 #endif
-	UDEBUG("");
 }
 
 #ifdef RTABMAP_REALSENSE2
@@ -186,7 +212,7 @@ void CameraRealSense2::imu_callback(rs2::frame frame)
 	if(stream == RS2_STREAM_GYRO)
 	{
 		gyroBuffer_.insert(gyroBuffer_.end(), std::make_pair(frame.get_timestamp(), crnt_reading));
-		if(gyroBuffer_.size() > 10)
+		if(gyroBuffer_.size() > 100)
 		{
 			gyroBuffer_.erase(gyroBuffer_.begin());
 		}
@@ -194,7 +220,7 @@ void CameraRealSense2::imu_callback(rs2::frame frame)
 	else
 	{
 		accBuffer_.insert(accBuffer_.end(), std::make_pair(frame.get_timestamp(), crnt_reading));
-		if(accBuffer_.size() > 10)
+		if(accBuffer_.size() > 100)
 		{
 			accBuffer_.erase(accBuffer_.begin());
 		}
@@ -210,20 +236,21 @@ Transform CameraRealSense2::realsense2PoseRotationInv_ = realsense2PoseRotation_
 void CameraRealSense2::pose_callback(rs2::frame frame)
 {
 	rs2_pose pose = frame.as<rs2::pose_frame>().get_pose_data();
-	Transform poseT(
-			pose.translation.x,
-			pose.translation.y,
-			pose.translation.z,
-			pose.rotation.x,
-			pose.rotation.y,
-			pose.rotation.z,
-			pose.rotation.w);
+	Transform poseT = Transform(
+				pose.translation.x,
+				pose.translation.y,
+				pose.translation.z,
+				pose.rotation.x,
+				pose.rotation.y,
+				pose.rotation.z,
+				pose.rotation.w);
 	poseT = realsense2PoseRotation_ * poseT * realsense2PoseRotationInv_;
+
 	UDEBUG("POSE callback! %f %s (confidence=%d)", frame.get_timestamp(), poseT.prettyPrint().c_str(), (int)pose.tracker_confidence);
 
 	UScopeMutex sm(poseMutex_);
 	poseBuffer_.insert(poseBuffer_.end(), std::make_pair(frame.get_timestamp(), std::make_pair(poseT, pose.tracker_confidence)));
-	if(poseBuffer_.size() > 10)
+	if(poseBuffer_.size() > 100)
 	{
 		poseBuffer_.erase(poseBuffer_.begin());
 	}
@@ -236,6 +263,14 @@ void CameraRealSense2::frame_callback(rs2::frame frame)
 }
 void CameraRealSense2::multiple_message_callback(rs2::frame frame)
 {
+	if(hostStartStamp_ == 0 && cameraStartStamp_ == 0)
+	{
+		hostStartStamp_ = UTimer::now();
+	}
+	if(cameraStartStamp_ == 0)
+	{
+		cameraStartStamp_ = frame.get_timestamp();
+	}
     auto stream = frame.get_profile().stream_type();
     switch (stream)
     {
@@ -870,7 +905,7 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
 		}
 		if (frameset.size() == 2)
 		{
-			double stamp = UTimer::now();
+			double stamp = (frameset.get_timestamp() - cameraStartStamp_) / 1000.0 + hostStartStamp_;
 			UDEBUG("Frameset arrived.");
 			bool is_rgb_arrived = false;
 			bool is_depth_arrived = false;
diff --git a/corelib/src/odometry/OdometryF2M.cpp b/corelib/src/odometry/OdometryF2M.cpp
index fa370675..64b2e3b2 100644
--- a/corelib/src/odometry/OdometryF2M.cpp
+++ b/corelib/src/odometry/OdometryF2M.cpp
@@ -204,7 +204,7 @@ Transform OdometryF2M::computeTransform(
 	{
 		if(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0)
 		{
-			UERROR("IMU received doesn't have orientation set, it is ignored.");
+			UERROR("IMU received doesn't have orientation set, it is ignored. If you are using RTAB-Map standalone, enable IMU filtering in Preferences->Source panel. On ROS, use \"imu_filter_madgwick\" or \"imu_complementary_filter\" packages to compute the orientation.");
 		}
 		else
 		{
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 16cba80d..03fc1c08 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -1772,9 +1772,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->comboBox_realsenseRGBSource->setCurrentIndex(0);
 		_ui->checkbox_rs2_emitter->setChecked(true);
 		_ui->checkbox_rs2_irDepth->setChecked(false);
-		_ui->spinBox_rs2_width->setValue(640);
+		_ui->spinBox_rs2_width->setValue(848);
 		_ui->spinBox_rs2_height->setValue(480);
-		_ui->spinBox_rs2_rate->setValue(30);
+		_ui->spinBox_rs2_rate->setValue(60);
 		_ui->lineEdit_openniOniPath->clear();
 		_ui->lineEdit_openni2OniPath->clear();
 		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 245d003e..ab8244dc 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -95,7 +95,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>12</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -4100,7 +4100,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="0" column="1">
                                    <widget class="QLabel" name="label_468">
                                     <property name="text">
-                                     <string>Emitter enabled</string>
+                                     <string>IR emitter enabled</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>
@@ -4120,7 +4120,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <item row="1" column="1">
                                    <widget class="QLabel" name="label_471">
                                     <property name="text">
-                                     <string>Use IR for RGB image.</string>
+                                     <string>Use IR for RGB image. Tracking will be more accurate (field-of-view of the IR camera is larger with less motion blur). Make sure to disable IR emitter. </string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>