diff --git a/launch/config/rgbd_gui.ini b/launch/config/rgbd_gui.ini
index fdd9e9c6..9c552b4b 100644
--- a/launch/config/rgbd_gui.ini
+++ b/launch/config/rgbd_gui.ini
@@ -6,17 +6,12 @@ General\loggerPauseLevel=3
 General\loggerType=1
 General\loggerPrintTime=true
 General\verticalLayoutUsed=true
-General\imageFlipped=false
 General\imageRejectedShown=true
 General\imageHighestHypShown=true
 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\0\x80\0\0\x2\x92\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\x92\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\x92\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\x92\0\0\x1\x46\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfc\0\0\0\0\0\0\x1\\\0\0\0q\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\0(\0\0\x1\x1b\0\0\0g\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\x1I\0\0\x1q\0\0\0\xd9\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xc8\0\xff\xff\xff\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\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\0\0\0\0\x5\0\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\0\0\0\x2\x92\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\x1V\0\0\0\xa1\0\0\x6\x65\0\0\x3\x94\0\0\x1^\0\0\0\xbd\0\0\x6]\0\0\x3\x8c\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\0\x80\0\0\x2\x92\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\x92\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\xa8\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\xa8\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfc\0\0\0\0\0\0\x1\\\0\0\0O\0\xff\xff\xff\xfc\x2\0\0\0\x2\xfb\0\0\0&\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x64\0o\0m\0\x65\0t\0r\0y\x1\0\0\0(\0\0\x1%\0\0\0\x19\0\xff\xff\xff\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\x1S\0\0\x1}\0\0\0=\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xc8\0\xff\xff\xff\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9a\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\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\0\0\0\0\x5\0\0\0\x1\x33\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\0m\0\xff\xff\xff\0\0\0\0\0\0\x2\xa8\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\x2\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x12\0t\0o\0o\0l\0\x42\0\x61\0r\0_\0\x32\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\xc4\0\0\0\xc4\0\0\x5\xd7\0\0\x3\xc3\0\0\0\xce\0\0\0\xea\0\0\x5\xcd\0\0\x3\xb9\0\0\0\0\0\0)
 General\showClouds0=true
-General\voxelSize0=0
 General\decimation0=4
 General\maxDepth0=4
 General\showScans0=true
@@ -25,7 +20,6 @@ General\ptSize0=1
 General\opacityScan0=1
 General\ptSizeScan0=1
 General\showClouds1=true
-General\voxelSize1=0
 General\decimation1=4
 General\maxDepth1=0
 General\showScans1=true
@@ -33,45 +27,25 @@ General\opacity1=1
 General\ptSize1=2
 General\opacityScan1=1
 General\ptSizeScan1=1
-General\showClouds2=true
-General\voxelSize2=0.01
-General\decimation2=1
-General\maxDepth2=4
-General\showScans2=true
-General\meshing0=false
-General\cloudFiltering=true
+General\cloudFiltering=false
 General\cloudFilteringRadius=0.2
 General\cloudFilteringAngle=20
-General\meshNormalKSearch0=20
-General\meshGP3Radius0=0.04
-General\meshSmoothing0=false
-General\meshSmoothingRadius0=0.04
-General\meshNormalKSearch1=20
-General\meshGP3Radius1=0.04
-General\meshSmoothing1=true
-General\meshSmoothingRadius1=0.04
 General\odomQualityThr=50
 General\meshing=false
-General\meshGP3Radius=0.04
-General\meshNormalKSearch=20
-General\meshSmoothing=false
-General\meshSmoothingRadius=0.04
 General\gridMapShown=false
 General\gridMapResolution=0.05
-General\gridMapFillEmptySpace=true
 General\gridMapOccupancyFrom3DCloud=false
-General\gridMapFillEmptyRadius=0
 General\gridMapOpacity=0.75
 General\posteriorGraphView=true
 General\showGraphs=true
-PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xde\0\0\0n\0\0\x5\xe8\0\0\x3\x82\0\0\x1\xde\0\0\0n\0\0\x5\xe8\0\0\x3\x82\0\0\0\0\0\0)
+PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xde\0\0\0R\0\0\x5\xe8\0\0\x3\x66\0\0\x1\xde\0\0\0R\0\0\x5\xe8\0\0\x3\x66\0\0\0\0\0\0)
 AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0)
 widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\x13\0\0\0\0\xbe\xb6\0\0\0\0\0\0>\xa4\0\0\0\0\0\0)
-widget_cloudViewer\camera_focal=@Variant(\0\0\0T>\xa4\0\0\0\0\0\0\xbe\xa1\0\0\0\0\0\0>t\0\0\0\0\0\0)
+widget_cloudViewer\camera_focal=@Variant(\0\0\0T>\xa4\0\0\0\0\0\0\xbe\xa1\0\0\0\0\0\0>\xa4\0\0\0\0\0\0)
 widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0)
 widget_cloudViewer\grid=false
 widget_cloudViewer\grid_cell_count=50
-widget_cloudViewer\grid_cell_size=@Variant(\0\0\0\x87?\x80\0\0)
+widget_cloudViewer\grid_cell_size=1
 widget_cloudViewer\trajectory_shown=true
 widget_cloudViewer\trajectory_size=100
 widget_cloudViewer\camera_target_locked=false
@@ -110,3 +84,117 @@ PostProcessingDialog\iterations=1
 PostProcessingDialog\reextract_features=false
 PostProcessingDialog\refine_neigbors=false
 PostProcessingDialog\refine_lc=false
+MainWindow\maximized=false
+MainWindow\status_bar=false
+widget_cloudViewer\frustum_shown=false
+widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0)
+widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
+widget_cloudViewer\rendering_rate=5
+imageView_source\alpha=50
+imageView_source\graphics_view=false
+imageView_source\graphics_view_scale=true
+imageView_loopClosure\alpha=50
+imageView_loopClosure\graphics_view=false
+imageView_loopClosure\graphics_view_scale=true
+imageView_odometry\alpha=200
+imageView_odometry\graphics_view=false
+imageView_odometry\graphics_view_scale=true
+ExportCloudsDialog\pipeline=0
+ExportCloudsDialog\normals_k=10
+ExportCloudsDialog\regenerate_min_depth=0
+ExportCloudsDialog\filtering=false
+ExportCloudsDialog\filtering_radius=0.02
+ExportCloudsDialog\filtering_min_neighbors=2
+ExportCloudsDialog\subtract=false
+ExportCloudsDialog\subtract_point_radius=0.02
+ExportCloudsDialog\subtract_point_angle=0
+ExportCloudsDialog\subtract_min_neighbors=5
+ExportCloudsDialog\mls_polygonial_order=2
+ExportCloudsDialog\mls_upsampling_method=0
+ExportCloudsDialog\mls_upsampling_radius=0.01
+ExportCloudsDialog\mls_upsampling_step=0
+ExportCloudsDialog\mls_point_density=0
+ExportCloudsDialog\mls_dilation_voxel_size=0.01
+ExportCloudsDialog\mls_dilation_iterations=0
+ExportCloudsDialog\mesh_mu=2.5
+ExportCloudsDialog\mesh_decimation_factor=0
+ExportCloudsDialog\mesh_texture=false
+ExportCloudsDialog\mesh_angle_tolerance=15
+ExportCloudsDialog\mesh_quad=false
+ExportCloudsDialog\mesh_triangle_size=2
+ExportScansDialog\binary=true
+ExportScansDialog\normals_k=20
+ExportScansDialog\regenerate=false
+ExportScansDialog\regenerate_decimation=1
+ExportScansDialog\filtering=false
+ExportScansDialog\filtering_radius=0.02
+ExportScansDialog\filtering_min_neighbors=2
+ExportScansDialog\assemble=true
+ExportScansDialog\assemble_voxel=0.01
+PostProcessingDialog\sba=false
+PostProcessingDialog\sba_iterations=20
+PostProcessingDialog\sba_epsilon=0
+PostProcessingDialog\sba_type=1
+PostProcessingDialog\sba_variance=1
+graphicsView_graphView\node_radius=0.00999999977648258
+graphicsView_graphView\link_width=0
+graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\current_goal_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0)
+graphicsView_graphView\global_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\local_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
+graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0)
+graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0)
+graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
+graphicsView_graphView\local_path_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0)
+graphicsView_graphView\global_path_color=@Variant(\0\0\0\x43\x1\xff\xff\x80\x80\0\0\x80\x80\0\0)
+graphicsView_graphView\gt_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0)
+graphicsView_graphView\intra_session_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
+graphicsView_graphView\inter_session_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
+graphicsView_graphView\intra_inter_session_colors_enabled=false
+graphicsView_graphView\grid_visible=true
+graphicsView_graphView\origin_visible=true
+graphicsView_graphView\referential_visible=true
+graphicsView_graphView\local_radius_visible=false
+graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0)
+graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n)
+graphicsView_graphView\graph_visible=true
+graphicsView_graphView\global_path_visible=true
+graphicsView_graphView\local_path_visible=true
+graphicsView_graphView\gt_graph_visible=true
+General\cloudsKept=true
+General\loggerPrintThreadId=false
+General\notifyNewGlobalPath=false
+General\minDepth0=0
+General\showFeatures0=false
+General\downsamplingScan0=1
+General\voxelSizeScan0=0
+General\ptSizeFeatures0=3
+General\minDepth1=0
+General\showFeatures1=true
+General\downsamplingScan1=1
+General\voxelSizeScan1=0
+General\ptSizeFeatures1=3
+General\cloudVoxel=0
+General\cloudNoiseRadius=0
+General\cloudNoiseMinNeighbors=5
+General\showLabels=false
+General\noFiltering=true
+General\subtractFiltering=false
+General\subtractFilteringMinPts=5
+General\subtractFilteringRadius=0.02
+General\subtractFilteringAngle=0
+General\normalKSearch=10
+General\gridMapEroded=false
+General\projMapFrame=true
+General\projMaxGroundAngle=30
+General\projMaxGroundHeight=0
+General\projMinClusterSize=20
+General\projMaxObstaclesHeight=0
+General\projFlatObstaclesDetected=true
+General\meshing_angle=15
+General\meshing_quad=false
+General\meshing_triangle_size=2
+Figures\counts=
+Figures\curves=
\ No newline at end of file