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Hi Mike. Could you please copy the following line into headless.launch, so that it is enclosed in the <node></node> tag.

<param name="config/store_pointclouds" value="true"/>

Storing the pointclouds for sending them out later is convenient, though it requires a lot of memory. If you want significant improvements of quality, I'd suggest to look at the file rgbdslam_sample_config.launch. It should contain all parameters that influence accuracy and speed (mostly in tradeoffs one vs the other). If you have a GPU, try SIFTGPU feature detector and extractor to speed things up.