diff --git a/corelib/include/rtabmap/core/CameraStereo.h b/corelib/include/rtabmap/core/CameraStereo.h
index f1db7875..b20f5d39 100644
--- a/corelib/include/rtabmap/core/CameraStereo.h
+++ b/corelib/include/rtabmap/core/CameraStereo.h
@@ -118,7 +118,7 @@ public:
 			int deviceId,
 			int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
 			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
-			int sensingMode = 1,// 0=FULL, 1=RAW
+			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
 			float imageRate=0.0f,
@@ -127,7 +127,7 @@ public:
 	CameraStereoZed(
 			const std::string & svoFilePath,
 			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
-			int sensingMode = 1,// 0=FULL, 1=RAW
+			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
 			float imageRate=0.0f,
diff --git a/corelib/src/CameraStereo.cpp b/corelib/src/CameraStereo.cpp
index 967047ca..8ba0d19e 100644
--- a/corelib/src/CameraStereo.cpp
+++ b/corelib/src/CameraStereo.cpp
@@ -787,7 +787,7 @@ CameraStereoZed::CameraStereoZed(
 #ifdef RTABMAP_ZED
 	UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
 	UASSERT(quality_ >= sl::DEPTH_MODE_NONE && quality_ <sl::DEPTH_MODE_LAST);
-	UASSERT(sensingMode_ >= sl::SENSING_MODE_FILL && sensingMode_ <sl::SENSING_MODE_LAST);
+	UASSERT(sensingMode_ >= sl::SENSING_MODE_STANDARD && sensingMode_ <sl::SENSING_MODE_LAST);
 	UASSERT(confidenceThr_ >= 0 && confidenceThr_ <=100);
 #endif
 }
@@ -900,6 +900,16 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		this->getLocalTransform(),
 		cv::Size(res.width, res.height));
 
+	UINFO("Calibration: fx=%f, fy=%f, cx=%f, cy=%f, baseline=%f, width=%d, height=%d, transform=%s",
+			stereoParams->left_cam.fx,
+			stereoParams->left_cam.fy,
+			stereoParams->left_cam.cx,
+			stereoParams->left_cam.cy,
+			stereoParams->T[0],//baseline
+			(int)res.width,
+			(int)res.height,
+			this->getLocalTransform().prettyPrint().c_str());
+
 	return true;
 #else
 	UERROR("CameraStereoZED: RTAB-Map is not built with ZED sdk support!");
@@ -956,6 +966,14 @@ static cv::Mat slMat2cvMat(sl::Mat& input) {
 }
 #endif
 
+Transform zedPoseToTransform(const sl::Pose & pose)
+{
+	return Transform(
+			pose.pose_data.m[0], pose.pose_data.m[1], pose.pose_data.m[2], pose.pose_data.m[3],
+			pose.pose_data.m[4], pose.pose_data.m[5], pose.pose_data.m[6], pose.pose_data.m[7],
+			pose.pose_data.m[8], pose.pose_data.m[9], pose.pose_data.m[10], pose.pose_data.m[11]);
+}
+
 SensorData CameraStereoZed::captureImage(CameraInfo * info)
 {
 	SensorData data;
@@ -1012,9 +1030,7 @@ SensorData CameraStereoZed::captureImage(CameraInfo * info)
 				int trackingConfidence = pose.pose_confidence;
 				if (trackingConfidence)
 				{
-					Transform t;
-					for(int i=0;i<16;i++)t.data()[i]=pose.pose_data.m[i];
-					info->odomPose = t;
+					info->odomPose = zedPoseToTransform(pose);
 					if (!info->odomPose.isNull())
 					{
 						//transform x->forward, y->left, z->up
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index cf549506..2d04c7e0 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -1420,7 +1420,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->comboBox_stereoZed_resolution->setCurrentIndex(2);
 		_ui->comboBox_stereoZed_quality->setCurrentIndex(1);
 		_ui->checkbox_stereoZed_selfCalibration->setChecked(false);
-		_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(1);
+		_ui->comboBox_stereoZed_sensingMode->setCurrentIndex(0);
 		_ui->spinBox_stereoZed_confidenceThr->setValue(100);
 		_ui->checkbox_stereoZed_odom->setChecked(false);
 		_ui->lineEdit_zedSvoPath->clear();
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 431b9449..692460c5 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-675</y>
+            <y>-433</y>
             <width>678</width>
             <height>2701</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>15</number>
+                <number>5</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2582,7 +2582,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>0</number>
+                       <number>1</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3820,12 +3820,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <widget class="QComboBox" name="comboBox_stereoZed_sensingMode">
                                     <item>
                                      <property name="text">
-                                      <string>FILL</string>
+                                      <string>STANDARD</string>
                                      </property>
                                     </item>
                                     <item>
                                      <property name="text">
-                                      <string>STANDARD</string>
+                                      <string>FILL</string>
                                      </property>
                                     </item>
                                    </widget>
@@ -3908,7 +3908,7 @@ 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_290">
                                     <property name="text">
-                                     <string>Quality. If NONE, the disparity is not computed on the GPU.</string>
+                                     <string>Quality. If NONE, the disparity is not computed on the GPU, but on CPU using OpenCV (see StereoBM panel for parameters).</string>
                                     </property>
                                     <property name="wordWrap">
                                      <bool>true</bool>