diff --git a/corelib/src/odometry/OdometryF2M.cpp b/corelib/src/odometry/OdometryF2M.cpp
index 3c1ac601..6058ab40 100644
--- a/corelib/src/odometry/OdometryF2M.cpp
+++ b/corelib/src/odometry/OdometryF2M.cpp
@@ -94,8 +94,8 @@ OdometryF2M::OdometryF2M(const ParametersMap & parameters) :
Parameters::parse(parameters, Parameters::kOdomF2MBundleAdjustmentMaxFrames(), bundleMaxFrames_);
Parameters::parse(parameters, Parameters::kOdomF2MValidDepthRatio(), validDepthRatio_);
- Parameters::parse(parameters_, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
- Parameters::parse(parameters_, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
+ Parameters::parse(parameters, Parameters::kIcpPointToPlaneK(), pointToPlaneK_);
+ Parameters::parse(parameters, Parameters::kIcpPointToPlaneRadius(), pointToPlaneRadius_);
UASSERT(bundleMaxFrames_ >= 0);
ParametersMap bundleParameters = parameters;
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 1999ca2a..da7dab69 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -1107,6 +1107,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->spinBox_odom_f2m_scanMaxSize->setObjectName(Parameters::kOdomF2MScanMaxSize().c_str());
_ui->doubleSpinBox_odom_f2m_scanRadius->setObjectName(Parameters::kOdomF2MScanSubtractRadius().c_str());
_ui->doubleSpinBox_odom_f2m_scanAngle->setObjectName(Parameters::kOdomF2MScanSubtractAngle().c_str());
+ _ui->doubleSpinBox_odom_f2m_scanRange->setObjectName(Parameters::kOdomF2MScanRange().c_str());
_ui->odom_f2m_validDepthRatio->setObjectName(Parameters::kOdomF2MValidDepthRatio().c_str());
_ui->odom_f2m_bundleStrategy->setObjectName(Parameters::kOdomF2MBundleAdjustment().c_str());
_ui->odom_f2m_bundleMaxFrames->setObjectName(Parameters::kOdomF2MBundleAdjustmentMaxFrames().c_str());
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index e2e21db3..315daf63 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
0
- 0
+ -585
680
3083
@@ -95,7 +95,7 @@
QFrame::Raised
- 21
+ 19
@@ -12832,6 +12832,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
+ -
+
+
+ m
+
+
+ 3
+
+
+ 0.025000000000000
+
+
+
-
@@ -12907,20 +12920,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
- -
-
-
- m
-
-
- 3
-
-
- 0.025000000000000
-
-
-
- -
+
-
[Visual] Local bundle adjustment. See Optimizer panel. This will not work if Optical Flow correspondences strategy is selected in Visual Registration panel.
@@ -12933,14 +12933,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
- -
+
-
999999
- -
+
-
[Visual] Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).
@@ -12953,7 +12953,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
- -
+
-
QComboBox::AdjustToContents
@@ -13009,7 +13009,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
- -
+
-
[Visual] If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.
@@ -13022,7 +13022,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
- -
+
-
@@ -13041,6 +13041,35 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
+ -
+
+
+ [Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.
+
+
+ true
+
+
+ Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse
+
+
+
+ -
+
+
+ m
+
+
+ 0
+
+
+ 9999.000000000000000
+
+
+ 0.000000000000000
+
+
+
-