diff --git a/guilib/include/rtabmap/gui/PreferencesDialog.h b/guilib/include/rtabmap/gui/PreferencesDialog.h
index fdc09d3b..22dfd8e9 100644
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -74,6 +74,8 @@ public:
 	PreferencesDialog(QWidget * parent = 0);
 	virtual ~PreferencesDialog();
 
+	void init();
+
 	void saveWindowGeometry(const QString & windowName, const QWidget * window);
 	void loadWindowGeometry(const QString & windowName, QWidget * window);
 	void saveMainWindowState(const QMainWindow * mainWindow);
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index d05539e2..3bc7d8e6 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -106,6 +106,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	{
 		_preferencesDialog = new PreferencesDialog(this);
 	}
+	_preferencesDialog->init();
 
 	// Restore window geometry
 	_preferencesDialog->loadMainWindowState(this);
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index f6beef4a..02ab646e 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -203,11 +203,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->treeView, SIGNAL(clicked(QModelIndex)), this, SLOT(clicked(QModelIndex)));
 	_ui->treeView->expandToDepth(1);
 
-	this->readSettings();
-	this->writeSettings();// This will create the ini file if not exist
-
-	this->loadWindowGeometry("PreferencesDialog", this);
-
 	_obsoletePanels = kPanelAll;
 	_initialized = true;
 }
@@ -217,6 +212,17 @@ PreferencesDialog::~PreferencesDialog() {
 	delete _ui;
 }
 
+void PreferencesDialog::init()
+{
+	this->readSettings();
+	this->writeSettings();// This will create the ini file if not exist
+
+	this->loadWindowGeometry("PreferencesDialog", this);
+
+	_obsoletePanels = kPanelAll;
+	_initialized = true;
+}
+
 void PreferencesDialog::setupTreeView()
 {
 	QFile modelFile(":/resources/PreferencesModel.txt");