Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed

guilib/src/DatabaseViewer.cpp

@@ -4283,7 +4283,7 @@ void DatabaseViewer::updateWordsMatching()
 			QList<int> ids =  wordsA.uniqueKeys();
 			for(int i=0; i<ids.size(); ++i)
 			{
-				if(wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
+				if(ids[i] > 0 && wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
 				{
 					// PINK features
 					ui_->graphicsView_A->setFeatureColor(ids[i], Qt::magenta);

guilib/src/ui/preferencesDialog.ui

@@ -94,7 +94,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-253</y>
             <width>678</width>
             <height>2811</height>
            </rect>
@@ -117,7 +117,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>0</number>
+                <number>20</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -15035,7 +15035,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                          <property name="text">
                           <string>NNDR ratio
 (A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
-Lower the ratio -&gt; higher the precision. 0 means disabled, matching the nearest.</string>
+Lower the ratio -&gt; higher the precision.</string>
                          </property>
                          <property name="wordWrap">
                           <bool>true</bool>