From a81ef39723fa246326ff0930bd688032da5c1293 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 25 Aug 2015 16:50:20 -0400
Subject: [PATCH] kinect2 launch: fixed warning "Parameter GFTT/MaxCorners
 doesn't exist anymore, use Odom/MaxFeatures. Please update your launch file
 accordingly."

---
 launch/rgbd_mapping_kinect2.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/rgbd_mapping_kinect2.launch b/launch/rgbd_mapping_kinect2.launch
index f16d8307..db42349e 100644
--- a/launch/rgbd_mapping_kinect2.launch
+++ b/launch/rgbd_mapping_kinect2.launch
@@ -48,7 +48,7 @@
    <arg name="min_inliers" default="20" />
    <arg name="inlier_distance" default="0.02" />
    <arg name="local_map" default="1000" />
-   <arg name="gftt_max_corners" default="500" />
+   <arg name="gftt_max_corners" default="1000" />
    <arg name="gftt_min_distance" default="7" />
         
   <group ns="rtabmap">
@@ -70,7 +70,7 @@
       <param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>       
       <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
-      <param name="GFTT/MaxCorners" type="string" value="$(arg gftt_max_corners)"/>
+      <param name="Odom/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
       <param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
     </node>