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Laurentadded keypoint-filtering after stereo-tracking.0cb890fa5

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\subsubsection usage Usage
\verbatim
<node name="stereo_dense_reconstruction" pkg="Obstacle_Map" type="stereo_dense_reconstruction">
  <param name="PHI_X" type="double" value="1.3" />
  <param name="PHI_Y" type="double" value="-3.14" />
  <param name="PHI_Z" type="double" value="1.57" />
  <param name="TRANS_X" type="double" value="0.0" />
  <param name="TRANS_Y" type="double" value="0.0" />
  <param name="TRANS_Z" type="double" value="0.28" />
</node>
\endverbatim