From 6a84ed6bd1329ddd73a8507f59558eb3f09d4eeb Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 2 Mar 2016 10:08:42 -0500
Subject: [PATCH] Updated OdomF2M/MaxNewFeatures description

---
 corelib/include/rtabmap/core/Parameters.h | 2 +-
 guilib/src/ui/preferencesDialog.ui        | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index 1a977118..e00be6bd 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -363,7 +363,7 @@ class RTABMAP_EXP Parameters
 
 	// Odometry Bag-of-words
 	RTABMAP_PARAM(OdomF2M, MaxSize,             int, 1000,   "Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
-	RTABMAP_PARAM(OdomF2M, MaxNewFeatures,      int, 0,      "Maximum features added to local map (nearest to farthest) from a new key-frame. 0 means no limit.");
+	RTABMAP_PARAM(OdomF2M, MaxNewFeatures,      int, 0,      "Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
 	RTABMAP_PARAM_STR(OdomF2M, FixedMapPath,    "",          "Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP estimation is used.")
 
 	// Odometry Mono
diff --git a/guilib/src/ui/preferencesDialog.ui b/guilib/src/ui/preferencesDialog.ui
index 531d26af..e80a972e 100644
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-215</y>
+            <y>-249</y>
             <width>681</width>
             <height>2010</height>
            </rect>
@@ -7525,7 +7525,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                              <item row="1" column="2">
                               <widget class="QLabel" name="label_194">
                                <property name="text">
-                                <string>Maximum features added to local map (nearest to farthest) from a new key-frame. 0 means no limit.</string>
+                                <string>Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.</string>
                                </property>
                                <property name="wordWrap">
                                 <bool>true</bool>