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

@@ -13,8 +13,8 @@ General\beep=false
 General\keypointsOpacity=16
 General\voxelSize=0
 General\decimation=16
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+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

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>
   

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>