diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h
index f8a16d0c..be2a78d5 100644
--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -173,6 +173,7 @@ private slots:
void downloadPoseGraph();
void anchorCloudsToGroundTruth();
void clearTheCache();
+ void openHelp();
void openPreferences();
void openPreferencesSource();
void setDefaultViews();
diff --git a/guilib/src/ExportCloudsDialog.cpp b/guilib/src/ExportCloudsDialog.cpp
index 8d8b90a1..e15ee71a 100644
--- a/guilib/src/ExportCloudsDialog.cpp
+++ b/guilib/src/ExportCloudsDialog.cpp
@@ -2182,7 +2182,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
}
}
- if(ignoredCameras > validCameras.size()/2)
+ if(ignoredCameras > (int)validCameras.size()/2)
{
std::string msg = uFormat("More than 50%% of the cameras (%d/%d) have been filtered for "
"too fast motion and/or blur level. You may adjust the corresponding thresholds.",
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index d204c83a..e80ca600 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -346,6 +346,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
+ connect(_ui->actionHelp, SIGNAL(triggered()), this , SLOT(openHelp()));
connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
connect(_ui->actionGenerate_map, SIGNAL(triggered()), this , SLOT(generateGraphDOT()));
connect(_ui->actionRaw_format_txt, SIGNAL(triggered()), this , SLOT(exportPosesRaw()));
@@ -5904,6 +5905,18 @@ void MainWindow::clearTheCache()
_occupancyGrid->clear();
}
+void MainWindow::openHelp()
+{
+ if(_state == kMonitoringPaused || _state == kMonitoring)
+ {
+ QDesktopServices::openUrl(QUrl("http://wiki.ros.org/rtabmap_ros"));
+ }
+ else
+ {
+ QDesktopServices::openUrl(QUrl("https://github.com/introlab/rtabmap/wiki"));
+ }
+}
+
void MainWindow::updateElapsedTime()
{
if(_state == kDetecting || _state == kMonitoring)
diff --git a/guilib/src/ui/mainWindow.ui b/guilib/src/ui/mainWindow.ui
index a628b636..be50189a 100644
--- a/guilib/src/ui/mainWindow.ui
+++ b/guilib/src/ui/mainWindow.ui
@@ -27,7 +27,7 @@
0
0
1012
- 22
+ 25