diff --git a/modules/realm_vslam/realm_vslam_base/src/open_vslam.cpp b/modules/realm_vslam/realm_vslam_base/src/open_vslam.cpp
index eabb29d..31cf409 100644
--- a/modules/realm_vslam/realm_vslam_base/src/open_vslam.cpp
+++ b/modules/realm_vslam/realm_vslam_base/src/open_vslam.cpp
@@ -76,7 +76,7 @@ VisualSlamIF::State OpenVslam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_ini
   std::shared_ptr<openvslam::Mat44_t> T_w2c_eigen;
   if (T_c2w_initial.empty())
   {
-    T_w2c_eigen = m_vslam->feed_monocular_frame(frame->getResizedImageRaw(), frame->getTimestamp() * 10e-9);
+    T_w2c_eigen = m_vslam->feed_monocular_frame(frame->getResizedImageRaw(), frame->getTimestamp() * 1e-9);
 
     if (T_w2c_eigen != nullptr)
       T_w2c = convertToCv(*T_w2c_eigen);
@@ -353,4 +353,4 @@ void OpenVslam::updateKeyframes()
     }
   }
   LOG_F(INFO, "Timing [Update KFs]: %lu ms", Timer::getCurrentTimeMilliseconds()-t);
-}
\ No newline at end of file
+}
diff --git a/modules/realm_vslam/realm_vslam_base/src/orb_slam.cpp b/modules/realm_vslam/realm_vslam_base/src/orb_slam.cpp
index d493f3c..27ae9c7 100644
--- a/modules/realm_vslam/realm_vslam_base/src/orb_slam.cpp
+++ b/modules/realm_vslam/realm_vslam_base/src/orb_slam.cpp
@@ -29,8 +29,8 @@ OrbSlam::OrbSlam(const VisualSlamSettings::Ptr &vslam_set, const CameraSettings:
   cam.K = K_32f;
   cam.distCoeffs = dist_coeffs_32f;
   cam.fps        = (*cam_set)["fps"].toFloat();
-  cam.width      = (*cam_set)["width"].toInt();
-  cam.height     = (*cam_set)["height"].toInt();
+  cam.width      =  static_cast<int>((*cam_set)["width"].toInt() * m_resizing);
+  cam.height     =  static_cast<int>((*cam_set)["height"].toInt() * m_resizing);
   cam.isRGB      = false; // BGR
 
   ORB_SLAM::OrbParameters orb{};
@@ -86,7 +86,7 @@ VisualSlamIF::State OrbSlam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_initi
   // Set image resizing accoring to settings
   frame->setImageResizeFactor(m_resizing);
 
-  double timestamp = static_cast<double>(frame->getTimestamp() - m_timestamp_reference)/10e3;
+  double timestamp = static_cast<double>(frame->getTimestamp() - m_timestamp_reference)/1e9;
   LOG_IF_F(INFO, true, "Time elapsed since first frame: %4.2f [s]", timestamp);
 
   // ORB SLAM returns a transformation from the world to the camera frame (T_w2c). In case we provide an initial guess
diff --git a/modules/realm_vslam/realm_vslam_base/src/ov2_slam.cpp b/modules/realm_vslam/realm_vslam_base/src/ov2_slam.cpp
index bde0295..0dfffd0 100644
--- a/modules/realm_vslam/realm_vslam_base/src/ov2_slam.cpp
+++ b/modules/realm_vslam/realm_vslam_base/src/ov2_slam.cpp
@@ -68,12 +68,12 @@ Ov2Slam::Ov2Slam(const VisualSlamSettings::Ptr &vslam_set, const CameraSettings:
   m_slam_params->do_full_ba_                  = (*vslam_set)["do_full_ba"].toInt() > 0;
 
   m_slam_params->cam_left_model_ = "pinhole";
-  m_slam_params->img_left_w_     = (*cam_set)["width"].toDouble();
-  m_slam_params->img_left_h_    = (*cam_set)["height"].toDouble();
-  m_slam_params->fxl_ = (*cam_set)["fx"].toDouble();
-  m_slam_params->fyl_ = (*cam_set)["fy"].toDouble();
-  m_slam_params->cxl_ = (*cam_set)["cx"].toDouble();
-  m_slam_params->cyl_ = (*cam_set)["cy"].toDouble();
+  m_slam_params->img_left_w_     = (*cam_set)["width"].toDouble()*static_cast<double>(m_resizing);;
+  m_slam_params->img_left_h_    = (*cam_set)["height"].toDouble()*static_cast<double>(m_resizing);;
+  m_slam_params->fxl_ = (*cam_set)["fx"].toDouble()*static_cast<double>(m_resizing);
+  m_slam_params->fyl_ = (*cam_set)["fy"].toDouble()*static_cast<double>(m_resizing);;
+  m_slam_params->cxl_ = (*cam_set)["cx"].toDouble()*static_cast<double>(m_resizing);;
+  m_slam_params->cyl_ = (*cam_set)["cy"].toDouble()*static_cast<double>(m_resizing);;
   m_slam_params->k1l_ = (*cam_set)["k1"].toDouble();
   m_slam_params->k2l_ = (*cam_set)["k2"].toDouble();
   m_slam_params->p1l_ = (*cam_set)["p1"].toDouble();
@@ -106,7 +106,7 @@ VisualSlamIF::State Ov2Slam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_initi
   // Set image resizing accoring to settings
   frame->setImageResizeFactor(m_resizing);
 
-  const double timestamp = static_cast<double>(frame->getTimestamp())/10e3;
+  const double timestamp = static_cast<double>(frame->getTimestamp())/1e9;
   LOG_IF_F(INFO, true, "Time stamp of frame: %4.2f [s]", timestamp);
 
   cv::Mat img = frame->getResizedImageRaw();