Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth.

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83

.cproject

@@ -1,21 +1,23 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
 	<storageModule moduleId="org.eclipse.cdt.core.settings">
 		<cconfiguration id="0.1790260204">
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 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
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 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -160,17 +162,17 @@
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 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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-					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
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 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -217,17 +219,17 @@
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 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
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@@ -289,17 +291,17 @@
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 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.PE" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.SOM" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.MachO64" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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corelib/include/rtabmap/core/Features2d.h

@@ -30,6 +30,17 @@
 
 namespace rtabmap {
 
+void RTABMAP_EXP filterKeypointsByDepth(
+			std::vector<cv::KeyPoint> & keypoints,
+			const cv::Mat & depth,
+			float depthConstant,
+			float maxDepth);
+void RTABMAP_EXP filterKeypointsByDepth(
+		std::vector<cv::KeyPoint> & keypoints,
+		cv::Mat & descriptors,
+		const cv::Mat & depth,
+		float depthConstant,
+		float maxDepth);
 
 void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints);
 void RTABMAP_EXP limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);

corelib/include/rtabmap/core/Memory.h

@@ -139,6 +139,8 @@ public:
 	std::multimap<int, cv::KeyPoint> getWords(int signatureId) const;
 	void extractKeypointsAndDescriptors(
 			const cv::Mat & image,
+			const cv::Mat & depth,
+			float depthConstant,
 			std::vector<cv::KeyPoint> & keypoints,
 			cv::Mat & descriptors);
 
@@ -218,6 +220,7 @@ private:
 	float _badSignRatio;;
 	bool _tfIdfLikelihoodUsed;
 	bool _parallelized;
+	float _wordsMaxDepth; // 0=inf
 	int _wordsPerImageTarget; // <0=none, 0=inf
 	std::vector<float> _roiRatios; // size 4
 

corelib/include/rtabmap/core/Parameters.h

@@ -155,6 +155,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Kp, PublishKeypoints,      bool, true, 		"Publishing keypoints.");
 	RTABMAP_PARAM(Kp, NNStrategy,            int, 1, 	 		"Naive 0, kdForest 1.");
 	RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, 		"");
+	RTABMAP_PARAM(Kp, MaxDepth,              float, 0.0, 		"Filter extracted keypoints by depth (0=inf)");
 	RTABMAP_PARAM(Kp, WordsPerImage,         int, 400, 			"");
 	RTABMAP_PARAM(Kp, BadSignRatio,          float, 0.2, 		"Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
 	RTABMAP_PARAM(Kp, MinDistUsed,           bool, false, 		"The nearest neighbor must have a distance < minDist.");

corelib/include/rtabmap/core/util3d.h

@@ -90,6 +90,11 @@ std::multimap<int, cv::KeyPoint> RTABMAP_EXP aggregate(
 		const std::list<int> & wordIds,
 		const std::vector<cv::KeyPoint> & keypoints);
 
+pcl::PointXYZ RTABMAP_EXP getDepth(
+		const cv::Mat & depthImage,
+		int x, int y,
+		float depthConstant);
+
 pcl::PointXYZ RTABMAP_EXP getDepth(const cv::Mat & depthImage,
 					   int x, int y,
 					   float cx, float cy,

corelib/src/Features2d.cpp

@@ -18,6 +18,7 @@
  */
 
 #include "rtabmap/core/Features2d.h"
+#include "rtabmap/core/util3d.h"
 #include "rtabmap/utilite/UStl.h"
 #include "rtabmap/utilite/UConversion.h"
 #include "rtabmap/utilite/ULogger.h"
@@ -36,6 +37,63 @@
 
 namespace rtabmap {
 
+void filterKeypointsByDepth(
+		std::vector<cv::KeyPoint> & keypoints,
+		const cv::Mat & depth,
+		float depthConstant,
+		float maxDepth)
+{
+	cv::Mat descriptors;
+	filterKeypointsByDepth(keypoints, descriptors, depth, depthConstant, maxDepth);
+}
+
+void filterKeypointsByDepth(
+		std::vector<cv::KeyPoint> & keypoints,
+		cv::Mat & descriptors,
+		const cv::Mat & depth,
+		float depthConstant,
+		float maxDepth)
+{
+	if(!depth.empty() && depthConstant > 0.0f && maxDepth > 0.0f && (descriptors.empty() || descriptors.rows == keypoints.size()))
+	{
+		std::vector<cv::KeyPoint> output(keypoints.size());
+		std::vector<int> indexes(keypoints.size(), 0);
+		int oi=0;
+		for(unsigned int i=0; i<keypoints.size(); ++i)
+		{
+			pcl::PointXYZ pt = util3d::getDepth(depth, keypoints[i].pt.x, keypoints[i].pt.y, depthConstant);
+			if(uIsFinite(pt.z) && pt.z < maxDepth)
+			{
+				output[oi++] = keypoints[i];
+				indexes[i] = 1;
+			}
+		}
+		output.resize(oi);
+		keypoints = output;
+
+		if(!descriptors.empty() && keypoints.size() != descriptors.rows)
+		{
+			if(keypoints.size() == 0)
+			{
+				descriptors = cv::Mat();
+			}
+			else
+			{
+				cv::Mat newDescriptors(keypoints.size(), descriptors.cols, descriptors.type());
+				int di = 0;
+				for(unsigned int i=0; i<indexes.size(); ++i)
+				{
+					if(indexes[i] == 1)
+					{
+						memcpy(newDescriptors.ptr<float>(di++), descriptors.ptr<float>(i), descriptors.cols*sizeof(float));
+					}
+				}
+				descriptors = newDescriptors;
+			}
+		}
+	}
+}
+
 void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints)
 {
 	cv::Mat descriptors;

corelib/src/Memory.cpp

@@ -68,6 +68,7 @@ Memory::Memory(const ParametersMap & parameters) :
 	_badSignRatio(Parameters::defaultKpBadSignRatio()),
 	_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
 	_parallelized(Parameters::defaultKpParallelized()),
+	_wordsMaxDepth(Parameters::defaultKpMaxDepth()),
 	_wordsPerImageTarget(Parameters::defaultKpWordsPerImage()),
 	_roiRatios(std::vector<float>(4, 0.0f)),
 
@@ -358,6 +359,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kKpTfIdfLikelihoodUsed(), _tfIdfLikelihoodUsed);
 	Parameters::parse(parameters, Parameters::kKpParallelized(), _parallelized);
 	Parameters::parse(parameters, Parameters::kKpBadSignRatio(), _badSignRatio);
+	Parameters::parse(parameters, Parameters::kKpMaxDepth(), _wordsMaxDepth);
 	Parameters::parse(parameters, Parameters::kKpWordsPerImage(), _wordsPerImageTarget);
 
 	if((iter=parameters.find(Parameters::kKpRoiRatios())) != parameters.end())
@@ -2771,6 +2773,8 @@ void Memory::copyData(const Signature * from, Signature * to)
 
 void Memory::extractKeypointsAndDescriptors(
 		const cv::Mat & image,
+		const cv::Mat & depth,
+		float depthConstant,
 		std::vector<cv::KeyPoint> & keypoints,
 		cv::Mat & descriptors)
 {
@@ -2780,8 +2784,11 @@ void Memory::extractKeypointsAndDescriptors(
 		if(_keypointDetector)
 		{
 			cv::Rect roi = KeypointDetector::computeRoi(image, _roiRatios);
-			keypoints = _keypointDetector->generateKeypoints(image, _wordsPerImageTarget, roi);
+			keypoints = _keypointDetector->generateKeypoints(image, 0, roi);
 			UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), timer.ticks());
+
+			filterKeypointsByDepth(keypoints, depth, depthConstant, _wordsMaxDepth);
+			limitKeypoints(keypoints, _wordsPerImageTarget);
 		}
 
 		if(keypoints.size())
@@ -2876,12 +2883,13 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
 			descriptors = image.descriptors();
 			keypoints = image.keypoints();
 		}
+		filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthConstant(), _wordsMaxDepth);
 		limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
 	}
 	else
 	{
 		// IMAGE RAW
-		this->extractKeypointsAndDescriptors(image.image(), keypoints, descriptors);
+		this->extractKeypointsAndDescriptors(image.image(), image.depth(), image.depthConstant(), keypoints, descriptors);
 
 		UDEBUG("ratio=%f, meanWordsPerLocation=%d", _badSignRatio, meanWordsPerLocation);
 		if(descriptors.rows && descriptors.rows < _badSignRatio * float(meanWordsPerLocation))

corelib/src/Odometry.cpp

@@ -187,7 +187,7 @@ Transform OdometryBinary::computeTransform(Image & image)
 
 	if(_lastKeypoints.size())
 	{
-		if(newDescriptors.rows && newDescriptors.rows > _lastKeypoints.size()/2) // at least 50% keypoints
+		if(newDescriptors.rows && newDescriptors.rows > (int)_lastKeypoints.size()/2) // at least 50% keypoints
 		{
 			cv::Mat results;
 			cv::Mat dists;
@@ -379,6 +379,7 @@ OdometryBOW::OdometryBOW(
 {
 	ParametersMap customParameters;
 	customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(maxWords)));
+	customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(maxDepth)));
 	customParameters.insert(ParametersPair(Parameters::kKpDetectorStrategy(), uNumber2Str(detectorType)));
 	customParameters.insert(ParametersPair(Parameters::kSURFHessianThreshold(), uNumber2Str(surfHessianThreshold)));
 	customParameters.insert(ParametersPair(Parameters::kKpNndrRatio(), uNumber2Str(nndr)));
@@ -396,6 +397,7 @@ OdometryBOW::OdometryBOW(const ParametersMap & parameters) :
 {
 	ParametersMap customParameters;
 	customParameters.insert(ParametersPair(Parameters::kKpWordsPerImage(), uNumber2Str(this->getMaxFeatures()))); // hack
+	customParameters.insert(ParametersPair(Parameters::kKpMaxDepth(), uNumber2Str(this->getMaxDepth())));
 	customParameters.insert(ParametersPair(Parameters::kMemRehearsalSimilarity(), "1.0")); // desactivate rehearsal
 	customParameters.insert(ParametersPair(Parameters::kMemImageKept(), "false"));
 	if(!_memory->init("", false, customParameters, false))
@@ -427,7 +429,7 @@ Transform OdometryBOW::computeTransform(Image & image)
 
 	std::vector<cv::KeyPoint> keypoints;
 	cv::Mat descriptors;
-	_memory->extractKeypointsAndDescriptors(image.image(), keypoints, descriptors);
+	_memory->extractKeypointsAndDescriptors(image.image(), image.depth(), image.depthConstant(), keypoints, descriptors);
 
 	image.setDescriptors(descriptors);
 	image.setKeypoints(keypoints);

corelib/src/util3d.cpp

@@ -405,6 +405,18 @@ void findCorrespondences(
 	inliers2.resize(oi);
 }
 
+pcl::PointXYZ getDepth(
+		const cv::Mat & depthImage,
+		int x, int y,
+		float depthConstant)
+{
+	return getDepth(depthImage, x, y,
+			(float)depthImage.cols/2,
+			(float)depthImage.rows/2,
+			1.0f/depthConstant,
+			1.0f/depthConstant);
+}
+
 pcl::PointXYZ getDepth(const cv::Mat & depthImage,
 					   int x, int y,
 			       float cx, float cy,

guilib/src/PreferencesDialog.cpp

@@ -293,6 +293,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->checkBox_dictionary_nndrUsed->setObjectName(Parameters::kKpNndrUsed().c_str());
 	_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
 	_ui->surf_spinBox_maxLeafs->setObjectName(Parameters::kKpMaxLeafs().c_str());
+	_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
 	_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpWordsPerImage().c_str());
 	_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
 	_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());

guilib/src/ui/preferencesDialog.ui

@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>15</number>
+                <number>9</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -2790,12 +2790,9 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                    <property name="title">
                     <string>Visual word</string>
                    </property>
-                   <layout class="QVBoxLayout" name="verticalLayout_39">
+                   <layout class="QVBoxLayout" name="verticalLayout_38">
                     <item>
                      <layout class="QFormLayout" name="formLayout_7">
-                      <property name="fieldGrowthPolicy">
-                       <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
-                      </property>
                       <item row="0" column="0">
                        <widget class="QCheckBox" name="checkBox_kp_publishKeypoints">
                         <property name="text">
@@ -2817,6 +2814,44 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                        </widget>
                       </item>
                       <item row="1" column="0">
+                       <widget class="QDoubleSpinBox" name="surf_doubleSpinBox_maxDepth">
+                        <property name="suffix">
+                         <string> m</string>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>99.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.000000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QLabel" name="label_53">
+                        <property name="toolTip">
+                         <string>0 means that the response (hessian) threshold 
+used for the detector will not be adapted. 
+Otherwise, the threshold is modified to 
+generate the number of words requested.</string>
+                        </property>
+                        <property name="text">
+                         <string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before &quot;Maximum words per image&quot;.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="2" column="0">
                        <widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
                         <property name="minimum">
                          <number>0</number>
@@ -2829,7 +2864,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="1" column="1">
+                      <item row="2" column="1">
                        <widget class="QLabel" name="label_22">
                         <property name="toolTip">
                          <string>0 means that the response (hessian) threshold 
@@ -2845,7 +2880,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="2" column="0">
+                      <item row="3" column="0">
                        <widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
                         <property name="decimals">
                          <number>2</number>
@@ -2864,7 +2899,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="2" column="1">
+                      <item row="3" column="1">
                        <widget class="QLabel" name="label_81">
                         <property name="toolTip">
                          <string>0 means that the response (hessian) threshold 
@@ -2880,7 +2915,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="3" column="0">
+                      <item row="4" column="0">
                        <widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
                         <property name="text">
                          <string/>
@@ -2890,7 +2925,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="3" column="1">
+                      <item row="4" column="1">
                        <widget class="QLabel" name="label_82">
                         <property name="text">
                          <string>Use the tf-idf method to compute the likelihood.</string>
@@ -2900,7 +2935,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="4" column="0">
+                      <item row="5" column="0">
                        <widget class="QCheckBox" name="checkBox_kp_parallelized">
                         <property name="text">
                          <string/>
@@ -2910,7 +2945,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="4" column="1">
+                      <item row="5" column="1">
                        <widget class="QLabel" name="label_94">
                         <property name="text">
                          <string>If the dictionary update and signature creation were parallelized.</string>
@@ -2920,14 +2955,14 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="5" column="0">
+                      <item row="6" column="0">
                        <widget class="QLineEdit" name="lineEdit_kp_roi">
                         <property name="readOnly">
                          <bool>true</bool>
                         </property>
                        </widget>
                       </item>
-                      <item row="5" column="1">
+                      <item row="6" column="1">
                        <widget class="QLabel" name="label_101">
                         <property name="text">
                          <string>ROI ratios [left, right, top, bottom].</string>
@@ -2937,7 +2972,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="0">
+                      <item row="7" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
                         <property name="suffix">
                          <string> %</string>
@@ -2947,7 +2982,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="1">
+                      <item row="7" column="1">
                        <widget class="QLabel" name="label_97">
                         <property name="text">
                          <string>Left ROI ratio (0 = no change).</string>
@@ -2957,7 +2992,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="7" column="0">
+                      <item row="8" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
                         <property name="suffix">
                          <string> %</string>
@@ -2967,7 +3002,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="7" column="1">
+                      <item row="8" column="1">
                        <widget class="QLabel" name="label_98">
                         <property name="text">
                          <string>Right ROI ratio (0 = no change).</string>
@@ -2977,7 +3012,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="0">
+                      <item row="9" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
                         <property name="suffix">
                          <string> %</string>
@@ -2987,7 +3022,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="1">
+                      <item row="9" column="1">
                        <widget class="QLabel" name="label_99">
                         <property name="text">
                          <string>Top ROI ratio (0 = no change).</string>
@@ -2997,7 +3032,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="0">
+                      <item row="10" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
                         <property name="suffix">
                          <string> %</string>
@@ -3007,7 +3042,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="1">
+                      <item row="10" column="1">
                        <widget class="QLabel" name="label_100">
                         <property name="text">
                          <string>Bottom ROI ratio (0 = no change).</string>
@@ -3017,17 +3052,7 @@ generate the number of words requested.</string>
                         </property>
                        </widget>
                       </item>
-                      <item row="10" column="1">
+                      <item row="11" column="0">
-                       <widget class="QLabel" name="label_117">
-                        <property name="text">
-                         <string>Visual word type.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="10" column="0">
                        <widget class="QComboBox" name="comboBox_detector_strategy">
                         <item>
                          <property name="text">
@@ -3041,6 +3066,16 @@ generate the number of words requested.</string>
                         </item>
                        </widget>
                       </item>
+                      <item row="11" column="1">
+                       <widget class="QLabel" name="label_117">
+                        <property name="text">
+                         <string>Visual word type.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
                      </layout>
                     </item>
                     <item>
@@ -4144,7 +4179,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                       <item row="3" column="1">
                        <widget class="QLabel" name="label_146">
                         <property name="text">
-                         <string>Max feature depth.</string>
+                         <string>Max feature depth. Note that parameter &quot;Visual Word&quot;-&gt;&quot;Max words depth&quot; is applied before this.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
                         </property>
                        </widget>
                       </item>