From 14e02c79af018e68a2a2557974d6b970e3edf4f1 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Mon, 17 Feb 2014 16:33:39 +0000
Subject: [PATCH] ros-package-> updated gui config ini and added odometry
 example parameters to launch files

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1085 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 rtabmap/launch/config/rgbd_gui.ini      | 7 +++++--
 rtabmap/launch/rgbd_mapping.launch      | 5 ++++-
 rtabmap/launch/rgbd_mapping_rviz.launch | 3 +++
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/rtabmap/launch/config/rgbd_gui.ini b/rtabmap/launch/config/rgbd_gui.ini
index 8e12b767..03712951 100644
--- a/rtabmap/launch/config/rgbd_gui.ini
+++ b/rtabmap/launch/config/rgbd_gui.ini
@@ -13,8 +13,8 @@ General\beep=false
 General\keypointsOpacity=16
 General\voxelSize=0
 General\decimation=16
-MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1$\0\0\x2\x18\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x2\x18\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3\xd8\0\0\x2\x18\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x18\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\xd0\0\0\0\x9c\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\xd0\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\x5u\0\0\0\xea\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\0\0\0\xc8\0\0\x2\x18\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\x1\x5\0\0\x6\t\0\0\x4 \0\0\0\x32\0\0\x1!\0\0\x6\x1\0\0\x4\x18\0\0\0\0\0\0)
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\xf2\0\0\x2\xba\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\xba\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\xd0\0\0\x2\xba\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\xba\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0\0\0\0\x1\x95\0\0\0\x9d\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\x1\x9b\0\0\x4\x35\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\xd0\0\0\0\x9c\xfc\x1\0\0\0\x6\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\xd0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\x5u\0\0\0\xea\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0O\0\xff\xff\xff\0\0\0\0\0\0\x2\xba\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0o\0\0\0\xad\0\0\x6N\0\0\x3\xc8\0\0\0w\0\0\0\xc9\0\0\x6\x46\0\0\x3\xc0\0\0\0\0\0\0)
 General\showClouds0=true
 General\voxelSize0=0
 General\decimation0=4
@@ -39,3 +39,6 @@ General\decimation2=1
 General\maxDepth2=4
 General\showScans2=true
 General\meshing0=false
+General\cloudFiltering=false
+General\cloudFilteringRadius=0.5
+General\cloudFilteringAngle=30
diff --git a/rtabmap/launch/rgbd_mapping.launch b/rtabmap/launch/rgbd_mapping.launch
index c65450c2..c160b01c 100644
--- a/rtabmap/launch/rgbd_mapping.launch
+++ b/rtabmap/launch/rgbd_mapping.launch
@@ -14,6 +14,9 @@
     <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+    
+	<param name="Odom/MinInliers" type="string" value="10"/>
+	<param name="Odom/InlierDistance" type="string" value="0.01"/>
    
     <param name="frame_id" type="string" value="base_link"/>
   </node>
@@ -30,7 +33,7 @@
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
-	
+      	
       <param name="queue_size" type="int" value="30"/>
     </node>
   
diff --git a/rtabmap/launch/rgbd_mapping_rviz.launch b/rtabmap/launch/rgbd_mapping_rviz.launch
index 3c3469b3..28a6d333 100644
--- a/rtabmap/launch/rgbd_mapping_rviz.launch
+++ b/rtabmap/launch/rgbd_mapping_rviz.launch
@@ -14,6 +14,9 @@
     <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+    
+    <param name="Odom/MinInliers" type="string" value="10"/>
+	<param name="Odom/InlierDistance" type="string" value="0.01"/>
    
     <param name="frame_id" type="string" value="base_link"/>
   </node>