Updated OdomInfo msg to include inliers/outliers data, updated default launch files

msg/OdomInfo.msg

@@ -10,6 +10,18 @@ Header header
 #    int features;
 #    int localMapSize;
 #    float time;
+#
+#    int type; // 0=BOW, 1=Optical Flow, 2=ICP
+#
+#    // BOW odometry
+#    std::multimap<int, cv::KeyPoint> words;
+#    std::vector<int> wordMatches;
+#    std::vector<int> wordInliers;
+#
+#    // Optical Flow odometry
+#    std::vector<cv::KeyPoint> refCorners;
+#    std::vector<cv::KeyPoint> newCorners;
+#    std::vector<int> cornerInliers;
 #}
 
 bool lost
@@ -18,4 +30,16 @@ int32 inliers
 float32 variance
 int32 features
 int32 localMapSize
-float32 time
+float32 time
+
+int32 type
+
+int32[] wordsKeys
+KeyPoint[] wordsValues
+int32[] wordMatches
+int32[] wordInliers
+
+KeyPoint[] refCorners
+KeyPoint[] newCorners
+int32[] cornerInliers
+