Added Feature SubPixel refining and OpticalFlow homography refining

include/find_object/DetectionInfo.h

@@ -42,6 +42,7 @@ public:
 	enum TimeStamp{
 		kTimeKeypointDetection,
 		kTimeDescriptorExtraction,
+		kTimeSubPixelRefining,
 		kTimeSkewAffine,
 		kTimeIndexing,
 		kTimeMatching,

include/find_object/Settings.h

@@ -120,6 +120,10 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Feature2D, 3MaxFeatures, int, 0, "Maximum features per image. If the number of features extracted is over this threshold, only X features with the highest response are kept. 0 means all features are kept.");
 	PARAMETER(Feature2D, 4Affine, bool, false, "(ASIFT) Extract features on multiple affine transformations of the image.");
 	PARAMETER(Feature2D, 5AffineCount, int, 6, "(ASIFT) Higher the value, more affine transformations will be done.");
+	PARAMETER(Feature2D, 6SubPix, bool, FINDOBJECT_NONFREE != 1, "Refines the corner locations. With SIFT/SURF, features are already subpixel, so no need to activate this.");
+	PARAMETER(Feature2D, 7SubPixWinSize, int, 3, "Half of the side length of the search window. For example, if winSize=Size(5,5) , then a 5*2+1 x 5*2+1 = 11 x 11 search window is used.");
+	PARAMETER(Feature2D, 8SubPixIterations, int, 30, "The process of corner position refinement stops after X iterations.");
+	PARAMETER(Feature2D, 9SubPixEps, float, 0.02, "The process of corner position refinement stops when the corner position moves by less than epsilon on some iteration.");
 
 	PARAMETER(Feature2D, Brief_bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
 
@@ -255,6 +259,11 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Homography, rectBorderWidth, int, 4, "Homography rectangle border width.");
 	PARAMETER(Homography, allCornersVisible, bool, false, "All corners of the detected object must be visible in the scene.");
 	PARAMETER(Homography, minAngle, int, 0, "(Degrees) Homography minimum angle. Set 0 to disable. When the angle is very small, this is a good indication that the homography is wrong. A good value is over 60 degrees.");
+	PARAMETER(Homography, opticalFlow, bool, false, "Activate optical flow to refine matched features before computing the homography.");
+	PARAMETER(Homography, opticalFlowWinSize, int, 16, "Size of the search window at each pyramid level.");
+	PARAMETER(Homography, opticalFlowMaxLevel, int, 3, "0-based maximal pyramid level number; if set to 0, pyramids are not used (single level), if set to 1, two levels are used, and so on; if pyramids are passed to input then algorithm will use as many levels as pyramids have but no more than maxLevel.");
+	PARAMETER(Homography, opticalFlowIterations, int, 30, "Specifying the termination criteria of the iterative search algorithm (after the specified maximum number of iterations).");
+	PARAMETER(Homography, opticalFlowEps, float, 0.01, "Specifying the termination criteria of the iterative search algorithm (when the search window moves by less than epsilon).");
 
 public:
 	virtual ~Settings(){}

src/FindObject.cpp

@@ -377,7 +377,8 @@ public:
 		phi_(phi),
 		timeSkewAffine_(0),
 		timeDetection_(0),
-		timeExtraction_(0)
+		timeExtraction_(0),
+		timeSubPix_(0)
 	{
 		UASSERT(detector && extractor);
 	}
@@ -388,6 +389,7 @@ public:
 	int timeSkewAffine() const {return timeSkewAffine_;}
 	int timeDetection() const {return timeDetection_;}
 	int timeExtraction() const {return timeExtraction_;}
+	int timeSubPix() const {return timeSubPix_;}
 
 protected:
 	virtual void run()
@@ -422,6 +424,24 @@ protected:
 				keypoints_[i].pt.x = pa.at<float>(0,0);
 				keypoints_[i].pt.y = pa.at<float>(1,0);
 			}
+
+			if(keypoints_.size() && Settings::getFeature2D_6SubPix())
+			{
+				// Sub pixel should be done after descriptors extraction
+				std::vector<cv::Point2f> corners;
+				cv::KeyPoint::convert(keypoints_, corners);
+				cv::cornerSubPix(image_,
+						corners,
+						cv::Size(Settings::getFeature2D_7SubPixWinSize(), Settings::getFeature2D_7SubPixWinSize()),
+						cv::Size(-1,-1),
+						cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, Settings::getFeature2D_8SubPixIterations(), Settings::getFeature2D_9SubPixEps() ));
+				UASSERT(corners.size() == keypoints_.size());
+				for(unsigned int i=0; i<corners.size(); ++i)
+				{
+					keypoints_[i].pt = corners[i];
+				}
+				timeSubPix_ +=timeStep.restart();
+			}
 		}
 		else
 		{
@@ -440,6 +460,7 @@ private:
 	int timeSkewAffine_;
 	int timeDetection_;
 	int timeExtraction_;
+	int timeSubPix_;
 };
 
 class ExtractFeaturesThread : public QThread
@@ -456,7 +477,8 @@ public:
 		image_(image),
 		timeSkewAffine_(0),
 		timeDetection_(0),
-		timeExtraction_(0)
+		timeExtraction_(0),
+		timeSubPix_(0)
 	{
 		UASSERT(detector && extractor);
 	}
@@ -468,6 +490,7 @@ public:
 	int timeSkewAffine() const {return timeSkewAffine_;}
 	int timeDetection() const {return timeDetection_;}
 	int timeExtraction() const {return timeExtraction_;}
+	int timeSubPix() const {return timeSubPix_;}
 
 protected:
 	virtual void run()
@@ -513,6 +536,23 @@ protected:
 				{
 					UERROR("obj=%d kpt=%d != descriptors=%d", objectId_, (int)keypoints_.size(), descriptors_.rows);
 				}
+				else if(Settings::getFeature2D_6SubPix())
+				{
+					// Sub pixel should be done after descriptors extraction
+					std::vector<cv::Point2f> corners;
+					cv::KeyPoint::convert(keypoints_, corners);
+					cv::cornerSubPix(image_,
+							corners,
+							cv::Size(Settings::getFeature2D_7SubPixWinSize(), Settings::getFeature2D_7SubPixWinSize()),
+							cv::Size(-1,-1),
+							cv::TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, Settings::getFeature2D_8SubPixIterations(), Settings::getFeature2D_9SubPixEps() ));
+					UASSERT(corners.size() == keypoints_.size());
+					for(unsigned int i=0; i<corners.size(); ++i)
+					{
+						keypoints_[i].pt = corners[i];
+					}
+					timeSubPix_ +=timeStep.restart();
+				}
 			}
 			else
 			{
@@ -566,6 +606,7 @@ protected:
 					timeSkewAffine_ += threads[k]->timeSkewAffine();
 					timeDetection_ += threads[k]->timeDetection();
 					timeExtraction_ += threads[k]->timeExtraction();
+					timeSubPix_ += threads[k]->timeSubPix();
 				}
 			}
 		}
@@ -583,6 +624,7 @@ private:
 	int timeSkewAffine_;
 	int timeDetection_;
 	int timeExtraction_;
+	int timeSubPix_;
 };
 
 void FindObject::updateObjects(const QList<int> & ids)
@@ -876,11 +918,15 @@ public:
 			const QMultiMap<int, int> * matches, // <object, scene>
 			int objectId,
 			const std::vector<cv::KeyPoint> * kptsA,
-			const std::vector<cv::KeyPoint> * kptsB) :
+			const std::vector<cv::KeyPoint> * kptsB,
+			const cv::Mat & imageA,   // image only required if opticalFlow is on
+			const cv::Mat & imageB) : // image only required if opticalFlow is on
 				matches_(matches),
 				objectId_(objectId),
 				kptsA_(kptsA),
 				kptsB_(kptsB),
+				imageA_(imageA),
+				imageB_(imageB),
 				code_(DetectionInfo::kRejectedUndef)
 	{
 		UASSERT(matches && kptsA && kptsB);
@@ -919,6 +965,41 @@ protected:
 
 		if((int)mpts_1.size() >= Settings::getHomography_minimumInliers())
 		{
+			if(Settings::getHomography_opticalFlow())
+			{
+				UASSERT(!imageA_.empty() && !imageB_.empty());
+
+				cv::Mat imageA = imageA_;
+				cv::Mat imageB = imageB_;
+				if(imageA_.cols < imageB_.cols && imageA_.rows < imageB_.rows)
+				{
+					// padding, optical flow wants images of the same size
+					imageA = cv::Mat::zeros(imageB_.size(), imageA_.type());
+					imageA_.copyTo(imageA(cv::Rect(0,0,imageA_.cols, imageA_.rows)));
+				}
+				if(imageA.size() == imageB.size())
+				{
+					//refine matches
+					std::vector<unsigned char> status;
+					std::vector<float> err;
+					cv::calcOpticalFlowPyrLK(
+							imageA,
+							imageB_,
+							mpts_1,
+							mpts_2,
+							status,
+							err,
+							cv::Size(Settings::getHomography_opticalFlowWinSize(), Settings::getHomography_opticalFlowWinSize()),
+							Settings::getHomography_opticalFlowMaxLevel(),
+							cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, Settings::getHomography_opticalFlowIterations(), Settings::getHomography_opticalFlowEps()),
+							cv::OPTFLOW_LK_GET_MIN_EIGENVALS | cv::OPTFLOW_USE_INITIAL_FLOW, 1e-4);
+				}
+				else
+				{
+					UERROR("Object's image should be less/equal size of the scene image to use Optical Flow.");
+				}
+			}
+
 			h_ = findHomography(mpts_1,
 					mpts_2,
 					Settings::getHomographyMethod(),
@@ -959,6 +1040,8 @@ private:
 	int objectId_;
 	const std::vector<cv::KeyPoint> * kptsA_;
 	const std::vector<cv::KeyPoint> * kptsB_;
+	cv::Mat imageA_;
+	cv::Mat imageB_;
 	DetectionInfo::RejectedCode code_;
 
 	std::vector<int> indexesA_;
@@ -1033,6 +1116,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 		info.sceneDescriptors_ = extractThread.descriptors();
 		info.timeStamps_.insert(DetectionInfo::kTimeKeypointDetection, extractThread.timeDetection());
 		info.timeStamps_.insert(DetectionInfo::kTimeDescriptorExtraction, extractThread.timeExtraction());
+		info.timeStamps_.insert(DetectionInfo::kTimeSubPixelRefining, extractThread.timeSubPix());
 		info.timeStamps_.insert(DetectionInfo::kTimeSkewAffine, extractThread.timeSkewAffine());
 
 		bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) ||
@@ -1063,9 +1147,9 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 
 			if(!Settings::getGeneral_invertedSearch())
 			{
+				vocabulary_->clear();
 				// CREATE INDEX for the scene
 				UDEBUG("CREATE INDEX FOR THE SCENE");
-				vocabulary_->clear();
 				words = vocabulary_->addWords(info.sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental());
 				if(!Settings::getGeneral_vocabularyIncremental())
 				{
@@ -1235,7 +1319,13 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 					for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k)
 					{
 						int objectId = matchesId[k];
-						threads.push_back(new HomographyThread(&matchesList[k], objectId, &objects_.value(objectId)->keypoints(), &info.sceneKeypoints_));
+						threads.push_back(new HomographyThread(
+								&matchesList[k],
+								objectId,
+								&objects_.value(objectId)->keypoints(),
+								&info.sceneKeypoints_,
+								objects_.value(objectId)->image(),
+								grayscaleImg));
 						threads.back()->start();
 					}
 
@@ -1353,8 +1443,6 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 						if(code == DetectionInfo::kRejectedUndef)
 						{
 							// Accepted!
-							//std::cout << "H= " << threads[j]->getHomography() << std::endl;
-
 							info.objDetected_.insert(id, hTransform);
 							info.objDetectedSizes_.insert(id, objects_.value(id)->rect().size());
 							info.objDetectedInliers_.insert(id, threads[j]->getInliers());

src/MainWindow.cpp

@@ -159,7 +159,6 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
 	connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
 
-	ui_->imageView_source->setGraphicsViewMode(true);
 	ui_->imageView_source->setTextLabel(tr("Press \"space\" to start the camera or drop an image here..."));
 	ui_->imageView_source->setMirrorView(Settings::getGeneral_mirrorView());
 	connect((QCheckBox*)ui_->toolBox->getParameterWidget(Settings::kGeneral_mirrorView()),
@@ -1139,6 +1138,7 @@ void MainWindow::update(const cv::Mat & image)
 		ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
 		ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
 		ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
+		ui_->label_timeSubPix->setNum(info.timeStamps_.value(DetectionInfo::kTimeSubPixelRefining, 0));
 		ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
 		if(!findObject_->vocabulary()->size())
 		{
@@ -1339,6 +1339,7 @@ void MainWindow::update(const cv::Mat & image)
 		ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
 		ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
 		ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
+		ui_->label_timeSubPix->setNum(info.timeStamps_.value(DetectionInfo::kTimeSubPixelRefining, 0));
 		ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
 	}
 

src/ui/mainWindow.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>881</width>
-    <height>536</height>
+    <height>552</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -368,7 +368,7 @@
              <x>0</x>
              <y>0</y>
              <width>222</width>
-             <height>409</height>
+             <height>425</height>
             </rect>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_objects">
@@ -475,84 +475,175 @@
        <property name="verticalSpacing">
         <number>0</number>
        </property>
-       <item row="4" column="1">
+       <item row="5" column="1">
         <widget class="QLabel" name="label_timeIndexing">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="1">
+       <item row="6" column="1">
         <widget class="QLabel" name="label_timeMatching">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="4" column="2">
+       <item row="5" column="2">
         <widget class="QLabel" name="label_9">
          <property name="text">
           <string>ms</string>
          </property>
         </widget>
        </item>
-       <item row="5" column="2">
+       <item row="6" column="2">
         <widget class="QLabel" name="label_10">
          <property name="text">
           <string>ms</string>
          </property>
         </widget>
        </item>
-       <item row="4" column="0">
+       <item row="0" column="2">
+        <widget class="QLabel" name="label_16">
+         <property name="text">
+          <string>ms</string>
+         </property>
+        </widget>
+       </item>
+       <item row="12" column="0">
+        <widget class="QLabel" name="label_17">
+         <property name="text">
+          <string>Vocabulary size</string>
+         </property>
+        </widget>
+       </item>
+       <item row="12" column="1">
+        <widget class="QLabel" name="label_vocabularySize">
+         <property name="text">
+          <string>000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="13" column="0">
+        <widget class="QLabel" name="label_18">
+         <property name="text">
+          <string>IP address</string>
+         </property>
+        </widget>
+       </item>
+       <item row="14" column="0">
+        <widget class="QLabel" name="label_19">
+         <property name="text">
+          <string>Output detection port</string>
+         </property>
+        </widget>
+       </item>
+       <item row="13" column="1">
+        <widget class="QLabel" name="label_ipAddress">
+         <property name="text">
+          <string>0.0.0.0</string>
+         </property>
+        </widget>
+       </item>
+       <item row="14" column="1">
+        <widget class="QLabel" name="label_port">
+         <property name="text">
+          <string>0</string>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="0">
+        <widget class="QLabel" name="label_20">
+         <property name="text">
+          <string>Objects detected</string>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="1">
+        <widget class="QLabel" name="label_objectsDetected">
+         <property name="text">
+          <string>000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="1">
+        <widget class="QLabel" name="label_timeHomographies">
+         <property name="text">
+          <string>000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="15" column="0">
+        <widget class="QLabel" name="label_21">
+         <property name="text">
+          <string>Input image port</string>
+         </property>
+        </widget>
+       </item>
+       <item row="15" column="1">
+        <widget class="QLabel" name="label_port_image">
+         <property name="text">
+          <string>-</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QLabel" name="label_22">
+         <property name="text">
+          <string>Affine transforms</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
         <widget class="QLabel" name="label_8">
          <property name="text">
           <string>Descriptors indexing</string>
          </property>
         </widget>
        </item>
-       <item row="6" column="2">
+       <item row="7" column="2">
         <widget class="QLabel" name="label_12">
          <property name="text">
           <string>ms</string>
          </property>
         </widget>
        </item>
-       <item row="9" column="1">
+       <item row="10" column="1">
         <widget class="QLabel" name="label_minMatchedDistance">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="9" column="0">
+       <item row="10" column="0">
         <widget class="QLabel" name="label_13">
          <property name="text">
           <string>Min matched distance</string>
          </property>
         </widget>
        </item>
-       <item row="10" column="0">
+       <item row="11" column="0">
         <widget class="QLabel" name="label_14">
          <property name="text">
           <string>Max matched distance</string>
          </property>
         </widget>
        </item>
-       <item row="10" column="1">
+       <item row="11" column="1">
         <widget class="QLabel" name="label_maxMatchedDistance">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="6" column="0">
+       <item row="7" column="0">
         <widget class="QLabel" name="label_11">
          <property name="text">
           <string>Homograhies</string>
          </property>
         </widget>
        </item>
-       <item row="3" column="0">
+       <item row="4" column="0">
         <widget class="QLabel" name="label_2">
          <property name="text">
           <string>Descriptors extraction</string>
@@ -566,14 +657,14 @@
          </property>
         </widget>
        </item>
-       <item row="3" column="1">
+       <item row="4" column="1">
         <widget class="QLabel" name="label_timeExtraction">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="3" column="2">
+       <item row="4" column="2">
         <widget class="QLabel" name="label_4">
          <property name="text">
           <string>ms</string>
@@ -594,7 +685,7 @@
          </property>
         </widget>
        </item>
-       <item row="5" column="0">
+       <item row="6" column="0">
         <widget class="QLabel" name="label_7">
          <property name="text">
           <string>Descriptors matching</string>
@@ -615,132 +706,62 @@
          </property>
         </widget>
        </item>
-       <item row="0" column="2">
+       <item row="3" column="1">
-        <widget class="QLabel" name="label_16">
-         <property name="text">
-          <string>ms</string>
-         </property>
-        </widget>
-       </item>
-       <item row="11" column="0">
-        <widget class="QLabel" name="label_17">
-         <property name="text">
-          <string>Vocabulary size</string>
-         </property>
-        </widget>
-       </item>
-       <item row="11" column="1">
-        <widget class="QLabel" name="label_vocabularySize">
-         <property name="text">
-          <string>000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="12" column="0">
-        <widget class="QLabel" name="label_18">
-         <property name="text">
-          <string>IP address</string>
-         </property>
-        </widget>
-       </item>
-       <item row="13" column="0">
-        <widget class="QLabel" name="label_19">
-         <property name="text">
-          <string>Output detection port</string>
-         </property>
-        </widget>
-       </item>
-       <item row="12" column="1">
-        <widget class="QLabel" name="label_ipAddress">
-         <property name="text">
-          <string>0.0.0.0</string>
-         </property>
-        </widget>
-       </item>
-       <item row="13" column="1">
-        <widget class="QLabel" name="label_port">
-         <property name="text">
-          <string>0</string>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="0">
-        <widget class="QLabel" name="label_20">
-         <property name="text">
-          <string>Objects detected</string>
-         </property>
-        </widget>
-       </item>
-       <item row="8" column="1">
-        <widget class="QLabel" name="label_objectsDetected">
-         <property name="text">
-          <string>000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="1">
-        <widget class="QLabel" name="label_timeHomographies">
-         <property name="text">
-          <string>000</string>
-         </property>
-        </widget>
-       </item>
-       <item row="14" column="0">
-        <widget class="QLabel" name="label_21">
-         <property name="text">
-          <string>Input image port</string>
-         </property>
-        </widget>
-       </item>
-       <item row="14" column="1">
-        <widget class="QLabel" name="label_port_image">
-         <property name="text">
-          <string>-</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="0">
-        <widget class="QLabel" name="label_22">
-         <property name="text">
-          <string>Affine transforms</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
         <widget class="QLabel" name="label_timeSkewAffine">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="2" column="2">
+       <item row="3" column="2">
         <widget class="QLabel" name="label_23">
          <property name="text">
           <string>ms</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="0">
+       <item row="8" column="0">
         <widget class="QLabel" name="label_24">
          <property name="text">
           <string>Refresh GUI</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="1">
+       <item row="8" column="1">
         <widget class="QLabel" name="label_timeRefreshGUI">
          <property name="text">
           <string>000</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="2">
+       <item row="8" column="2">
         <widget class="QLabel" name="label_25">
          <property name="text">
           <string>ms</string>
          </property>
         </widget>
        </item>
+       <item row="2" column="0">
+        <widget class="QLabel" name="label_26">
+         <property name="text">
+          <string>Features sub pixel refining</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="1">
+        <widget class="QLabel" name="label_timeSubPix">
+         <property name="text">
+          <string>000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="2">
+        <widget class="QLabel" name="label_27">
+         <property name="text">
+          <string>ms</string>
+         </property>
+        </widget>
+       </item>
       </layout>
      </item>
      <item>