diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index 4ab1ab0f..69e35644 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -312,7 +312,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,         "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
 	RTABMAP_PARAM_STR(Odom, RoiRatios,          "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
 	RTABMAP_PARAM(Odom, Force2D, 		        bool, false,     "Force 2D transform (3Dof: x,y and yaw).");
-	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, false,     "Fill info with data (inliers/outliers features).");
+	RTABMAP_PARAM(Odom, FillInfoData, 		    bool, true,     "Fill info with data (inliers/outliers features).");
 
 	// Odometry Bag-of-words
 	RTABMAP_PARAM(OdomBow, LocalHistorySize,       int, 1000,      "Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index c2a4f631..87b478ae 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -170,7 +170,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 		_ui->dockWidget_loopClosureViewer->setVisible(false);
 		_ui->dockWidget_mapVisibility->setVisible(false);
 		_ui->dockWidget_graphViewer->setVisible(false);
-		_ui->dockWidget_odometry->setVisible(false);
+		//_ui->dockWidget_odometry->setVisible(false);
 		//_ui->dockWidget_cloudViewer->setVisible(false);
 		//_ui->dockWidget_imageView->setVisible(false);
 	}
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index a2aa66ec..9f3fb1d1 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -244,7 +244,7 @@
   </widget>
   <widget class="QDockWidget" name="dockWidget_statsV2">
    <property name="floating">
-    <bool>false</bool>
+    <bool>true</bool>
    </property>
    <property name="windowTitle">
     <string>Statistics</string>
@@ -577,7 +577,7 @@
     <string>3D Loop closure</string>
    </property>
    <attribute name="dockWidgetArea">
-    <number>8</number>
+    <number>2</number>
    </attribute>
    <widget class="QWidget" name="dockWidgetContents_7">
     <layout class="QVBoxLayout" name="verticalLayout_7">
@@ -594,6 +594,9 @@
    </widget>
   </widget>
   <widget class="QDockWidget" name="dockWidget_mapVisibility">
+   <property name="floating">
+    <bool>true</bool>
+   </property>
    <property name="windowTitle">
     <string>Map visibility</string>
    </property>
@@ -619,7 +622,7 @@
     <string>Graph view</string>
    </property>
    <attribute name="dockWidgetArea">
-    <number>8</number>
+    <number>2</number>
    </attribute>
    <widget class="QWidget" name="dockWidgetContents_9">
     <layout class="QVBoxLayout" name="verticalLayout_10">
@@ -636,6 +639,9 @@
    </widget>
   </widget>
   <widget class="QDockWidget" name="dockWidget_imageView">
+   <property name="allowedAreas">
+    <set>Qt::AllDockWidgetAreas</set>
+   </property>
    <property name="windowTitle">
     <string>Loop closure detection</string>
    </property>