diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 5a706c2d..16f3425e 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -488,7 +488,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->statsToolBox, SIGNAL(figuresSetupChanged()), this, SLOT(configGUIModified()));
 
 	// update loop closure viewer parameters
-	ParametersMap parameters = _preferencesDialog->getAllParameters();
 	_ui->widget_loopClosureViewer->setDecimation(_preferencesDialog->getCloudDecimation(0));
 	_ui->widget_loopClosureViewer->setMaxDepth(_preferencesDialog->getCloudMaxDepth(0));
 
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 0c3deff4..5c954b43 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -2394,7 +2394,8 @@ QString PreferencesDialog::loadCustomConfig(const QString & section, const QStri
 
 const rtabmap::ParametersMap & PreferencesDialog::getAllParameters() const
 {
-	UASSERT(_parameters.size() == Parameters::getDefaultParameters().size());
+	UASSERT_MSG(_parameters.size() == Parameters::getDefaultParameters().size(),
+			uFormat("%d vs %d", (int)_parameters.size(), (int)Parameters::getDefaultParameters().size()).c_str());
 	return _parameters;
 }