diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 7989cb82..a8ee15d7 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -7,6 +7,4 @@ ELSE()
    MESSAGE(STATUS "RTAB-Map GUI lib is not built, the RGBDMapping example will not be built...")
 ENDIF()
 
-ADD_SUBDIRECTORY( CameraRGBD )
-
 
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 7c52dcdf..c766b966 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -5,6 +5,7 @@ ADD_SUBDIRECTORY( VocabularyComparison )
 ADD_SUBDIRECTORY( OdometryViewer )
 ADD_SUBDIRECTORY( DataRecorder )
 ADD_SUBDIRECTORY( ExtractObject )
+ADD_SUBDIRECTORY( CameraRGBD )
 
 IF(TARGET rtabmap_gui)
 	ADD_SUBDIRECTORY( DatabaseViewer )
diff --git a/examples/CameraRGBD/CMakeLists.txt b/tools/CameraRGBD/CMakeLists.txt
similarity index 100%
rename from examples/CameraRGBD/CMakeLists.txt
rename to tools/CameraRGBD/CMakeLists.txt
diff --git a/examples/CameraRGBD/main.cpp b/tools/CameraRGBD/main.cpp
similarity index 100%
rename from examples/CameraRGBD/main.cpp
rename to tools/CameraRGBD/main.cpp