From 6a2fe47b22d05b7ece66a2628696f945711384d6 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 26 Apr 2017 14:06:42 -0400
Subject: [PATCH] Preferences: updated RGBD/ProximityPathMaxNeighbors
 description and default value (now 0=disabled)

---
 corelib/include/rtabmap/core/Parameters.h | 2 +-
 guilib/src/ui/preferencesDialog.ui        | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index d44a1bfc..1c9a3bf2 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -330,7 +330,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth,       int, 50,      "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
 	RTABMAP_PARAM(RGBD, ProximityMaxPaths,            int, 3,       "Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.");
 	RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 0.5,   "Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.");
-	RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors,    int, 10,      "Maximum neighbor nodes compared on each path.");
+	RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors,    int, 0,      "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
 	RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,   "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
 	RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45,    "Maximum angle (degrees) for visual proximity detection.");
 
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index d5ba5852..974adebf 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>678</width>
-            <height>2701</height>
+            <width>673</width>
+            <height>2718</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>1</number>
+                <number>13</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -8220,7 +8220,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                          <item row="2" column="1">
                           <widget class="QLabel" name="label_space3_8">
                            <property name="text">
-                            <string>Maximum neighbor nodes compared on each path.</string>
+                            <string>Maximum neighbor nodes compared on each path. Set to 0 to disable merging close scans.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>