diff --git a/outline.png b/outline.png
index f6bc519..869022d 100644
Binary files a/outline.png and b/outline.png differ
diff --git a/src/Tracking.cc b/src/Tracking.cc
index ea067a0..1b3dfb3 100644
--- a/src/Tracking.cc
+++ b/src/Tracking.cc
@@ -957,7 +957,8 @@ bool Tracking::ParseCamParamFile(cv::FileStorage &fSettings)
         std::cerr << "Check an example configuration file with the desired sensor" << std::endl;
     }
 
-    if(mSensor==System::STEREO || mSensor==System::IMU_STEREO)
+    // if(mSensor==System::STEREO || mSensor==System::IMU_STEREO) !bug 忘记读取rgbd的mbf
+    if(mSensor==System::STEREO || mSensor==System::IMU_STEREO || mSensor==System::RGBD)
     {
         cv::FileNode node = fSettings["Camera.bf"];
         if(!node.empty() && node.isReal())