Added marker range support

guilib/src/ui/preferencesDialog.ui

@@ -15556,6 +15556,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </item>
                       <item row="3" column="0">
                        <widget class="QDoubleSpinBox" name="MarkerLength">
+                        <property name="toolTip">
+                         <string>If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). 
+With &lt;0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.</string>
+                        </property>
                         <property name="suffix">
                          <string> m</string>
                         </property>
@@ -15576,7 +15580,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       <item row="11" column="1">
                        <widget class="QLabel" name="label_space2_15">
                         <property name="text">
-                         <string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by a vertical line (&quot;id1 x y z roll pitch yaw|id2 x y z roll pitch yaw&quot;). Example:  &quot;1 0 0 1 0 0 0|2 1 0 1 0 0 1.57&quot; (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</string>
+                         <string>World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by a vertical line (&quot;id1 x y z roll pitch yaw|id2 x y z roll pitch yaw&quot;). Example:  &quot;1 0 0 1 0 0 0|2 1 0 1 0 0 1.57&quot; (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).</string>
                         </property>
                         <property name="wordWrap">
                          <bool>true</bool>
@@ -15624,7 +15628,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       <item row="3" column="1">
                        <widget class="QLabel" name="label_space2_7">
                         <property name="text">
-                         <string>Marker length. The length (m) of the markers' side. Value &lt;=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With &lt;0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.</string>
+                         <string>Marker length. The length (m) of the markers' side. Value &amp;lt;=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). Mouse over the spinbox to see the difference between negative and 0.</string>
                         </property>
                         <property name="wordWrap">
                          <bool>true</bool>
@@ -15996,6 +16000,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       </item>
                       <item row="4" column="0">
                        <widget class="QLineEdit" name="MarkerLengths">
+                        <property name="toolTip">
+                         <string>For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set &quot;12 0.08|14 0.15|30:40 0.1&quot;</string>
+                        </property>
                         <property name="placeholderText">
                          <string/>
                         </property>
@@ -16004,7 +16011,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       <item row="4" column="1">
                        <widget class="QLabel" name="label_space2_25">
                         <property name="text">
-                         <string>List of markers to detect. Format is the marker's ID followed by its length (in meters), markers are separated by a vertical line (&quot;id1 length|id2 length&quot;). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker Length. For example, to detect only markers 12 and 14 with lengths of 8 and 15 cm respectively, set &quot;12 0.08|14 0.15&quot;.</string>
+                         <string>List of markers to detect. Format is the marker's ID followed by its length (in meters), markers are separated by a vertical line (&quot;id1 length|id2 length&quot;). We can also define a range of markers with &quot;id1:id2 length&quot; (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker Length. Mouse over text box for example.</string>
                         </property>
                         <property name="wordWrap">
                          <bool>true</bool>