diff --git a/CMakeLists.txt b/CMakeLists.txt
index 11000e3..1472505 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -170,8 +170,8 @@ else ()
         )
 endif()
 
-# add_executable(run_matching src/run_matching.cc)
-# target_link_libraries(run_matching xrsfm)
+add_executable(run_matching src/run_matching.cc)
+target_link_libraries(run_matching xrsfm)
 
 # add_executable(run_reconstruction src/run_reconstruction.cc)
 # target_link_libraries(run_reconstruction xrsfm)
@@ -188,8 +188,8 @@ endif()
 # add_executable(rec_1dsfm src/rec_1dsfm.cc)
 # target_link_libraries(rec_1dsfm xrsfm)
 
-# add_executable(rec_kitti src/rec_kitti.cc)
-# target_link_libraries(rec_kitti xrsfm)
+add_executable(rec_kitti src/rec_kitti.cc)
+target_link_libraries(rec_kitti xrsfm)
 
 add_executable(test_gui src/test_gui.cc)
 target_link_libraries(test_gui xrsfm)
diff --git a/src/base/camera.hpp b/src/base/camera.hpp
index cbbd850..3a73e69 100644
--- a/src/base/camera.hpp
+++ b/src/base/camera.hpp
@@ -36,8 +36,10 @@ class Camera {
     }
     Camera(int _id, double fxy, double cx, double cy) {
         id_ = _id;
-        model_id_ = 0;
-        params_ = {fxy, cx, cy};
+        // model_id_ = 0;
+        // params_ = {fxy, cx, cy};
+        model_id_ = 2;
+        params_ = {fxy, cx, cy, 0};
         std::cout << params_.size() << std::endl;
         is_valid = true;
     }
diff --git a/src/rec_kitti.cc b/src/rec_kitti.cc
index 8f90cfc..d3bdcba 100644
--- a/src/rec_kitti.cc
+++ b/src/rec_kitti.cc
@@ -40,8 +40,7 @@ void PreProcess(const std::string dir_path, const int camera_param_id,
         frame.track_ids_.assign(num_points, -1);
         for (const auto &kpt : frame.keypoints_) {
             const auto &pt = kpt.pt;
-            Eigen::Vector2d ept(pt.x, pt.y), eptn;
-            frame.points.emplace_back(ept);
+            frame.points.emplace_back(vector2(pt.x, pt.y));
         }
     }