diff --git a/launch/tests/rgbdslam_datasets.launch b/launch/tests/rgbdslam_datasets.launch
index d13f9dc5..4eb0765e 100644
--- a/launch/tests/rgbdslam_datasets.launch
+++ b/launch/tests/rgbdslam_datasets.launch
@@ -31,7 +31,7 @@
 	  
 	  <param name="Odom/Strategy" type="string" value="0"/>      <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
 	  <param name="Vis/CorType" type="string" value="0"/>        <!-- 0=features matching 1=Optical Flow -->
-	  <param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
+	  <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
       <param name="Vis/UseDepthAsMask" type="string" value="true"/>
       <param name="Vis/MaxDepth" type="string" value="4"/>