diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 4193c1c1..c58c2408 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -157,6 +157,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
#ifndef RTABMAP_REALSENSE_SLAM
_ui->checkbox_realsenseOdom->setChecked(false);
_ui->checkbox_realsenseOdom->setEnabled(false);
+ _ui->label_realsenseOdom->setEnabled(false);
#endif
#ifndef RTABMAP_NONFREE
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 6f58dbf8..3a64562e 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,16 +63,25 @@
0
- -416
- 678
- 2701
+ -221
+ 677
+ 2644
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -3270,7 +3279,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
-
-
+
Use visual inertial odometry for ZR300.
@@ -4442,7 +4451,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
Directory of images (optional settings)
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -10899,7 +10917,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -11039,7 +11066,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -11197,7 +11233,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -11277,7 +11322,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-
@@ -11389,7 +11443,16 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
0
-
+
+ 0
+
+
+ 0
+
+
+ 0
+
+
0
-