diff --git a/corelib/src/Parameters.cpp b/corelib/src/Parameters.cpp
index c63a6cd8..326c26a3 100644
--- a/corelib/src/Parameters.cpp
+++ b/corelib/src/Parameters.cpp
@@ -646,6 +646,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 					{
 						ignore = true;
 					}
+#endif
+#ifndef RTABMAP_VISO2
+					if(group.compare("OdomORBSLAM2") == 0)
+					{
+						ignore = true;
+					}
 #endif
 					if(!ignore)
 					{