<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>ExportCloudsDialog</class>
 <widget class="QDialog" name="ExportCloudsDialog">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>895</width>
    <height>869</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Export 3D Clouds</string>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0,0">
   <item>
    <widget class="QScrollArea" name="scrollArea">
     <property name="widgetResizable">
      <bool>true</bool>
     </property>
     <widget class="QWidget" name="scrollAreaWidgetContents">
      <property name="geometry">
       <rect>
        <x>0</x>
        <y>-654</y>
        <width>861</width>
        <height>6498</height>
       </rect>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_13">
       <item>
        <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
         <item row="17" column="0">
          <widget class="QCheckBox" name="checkBox_cameraProjection">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="1" column="1">
          <widget class="QLabel" name="label_12">
           <property name="text">
            <string>Reconstruction flavor.</string>
           </property>
          </widget>
         </item>
         <item row="14" column="0">
          <widget class="QCheckBox" name="checkBox_filtering">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="13" column="0">
          <widget class="QCheckBox" name="checkBox_regenerate">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="18" column="1">
          <widget class="QLabel" name="label_binaryFile_12">
           <property name="text">
            <string>Meshing.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="14" column="1">
          <widget class="QLabel" name="label_binaryFile_9">
           <property name="text">
            <string>Cloud filtering.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="7" column="1">
          <widget class="QLabel" name="label_normal_2">
           <property name="text">
            <string>Set the search radius for the normal estimation.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="18" column="0">
          <widget class="QCheckBox" name="checkBox_meshing">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="16" column="1">
          <widget class="QLabel" name="label_gainCompensation">
           <property name="text">
            <string>Gain compensation. Normalize brightness of images.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="5" column="1">
          <widget class="QLabel" name="label_frame">
           <property name="text">
            <string>Output frame.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="4" column="0">
          <widget class="QCheckBox" name="checkBox_assemble">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="3" column="0">
          <widget class="QCheckBox" name="checkBox_binary">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="10" column="0">
          <widget class="QSpinBox" name="spinBox_randomSamples_assembled">
           <property name="minimum">
            <number>0</number>
           </property>
           <property name="maximum">
            <number>99999999</number>
           </property>
           <property name="singleStep">
            <number>10000</number>
           </property>
           <property name="value">
            <number>0</number>
           </property>
          </widget>
         </item>
         <item row="6" column="1">
          <widget class="QLabel" name="label_normal">
           <property name="text">
            <string>Set the number of k nearest neighbors to use for the normal estimation. Set 0 to disable.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
          <widget class="QLabel" name="label_binaryFile_11">
           <property name="text">
            <string>From RGB-D images. If not checked, clouds will be generated from laser scans.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="9" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
           <property name="suffix">
            <string> m</string>
           </property>
           <property name="decimals">
            <number>3</number>
           </property>
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.010000000000000</double>
           </property>
           <property name="value">
            <double>0.005000000000000</double>
           </property>
          </widget>
         </item>
         <item row="0" column="0">
          <widget class="QCheckBox" name="checkBox_fromDepth">
           <property name="text">
            <string/>
           </property>
           <property name="checked">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="6" column="0">
          <widget class="QSpinBox" name="spinBox_normalKSearch">
           <property name="minimum">
            <number>0</number>
           </property>
           <property name="value">
            <number>20</number>
           </property>
          </widget>
         </item>
         <item row="15" column="0">
          <widget class="QCheckBox" name="checkBox_smoothing">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="1" column="0">
          <widget class="QComboBox" name="comboBox_pipeline">
           <item>
            <property name="text">
             <string>Organized Point Cloud</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>Dense Point Cloud</string>
            </property>
           </item>
          </widget>
         </item>
         <item row="15" column="1">
          <widget class="QLabel" name="label_smoothing">
           <property name="text">
            <string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="11" column="1">
          <widget class="QLabel" name="label_intensityColormap">
           <property name="text">
            <string>Intensity colormap.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="9" column="1">
          <widget class="QLabel" name="label_voxel">
           <property name="text">
            <string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="11" column="0">
          <widget class="QComboBox" name="comboBox_intensityColormap">
           <item>
            <property name="text">
             <string>GrayScale</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>RedYellow</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>Rainbow</string>
            </property>
           </item>
          </widget>
         </item>
         <item row="17" column="1">
          <widget class="QLabel" name="label_cameraProjection">
           <property name="text">
            <string>Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="12" column="1">
          <widget class="QLabel" name="label_binaryFile_10">
           <property name="text">
            <string>Nodes filtering. Filter nodes to be exported in a specified region .</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="5" column="0">
          <widget class="QComboBox" name="comboBox_frame">
           <item>
            <property name="text">
             <string>Map</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>Robot</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>Camera</string>
            </property>
           </item>
           <item>
            <property name="text">
             <string>Scan</string>
            </property>
           </item>
          </widget>
         </item>
         <item row="7" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
           <property name="singleStep">
            <double>0.010000000000000</double>
           </property>
          </widget>
         </item>
         <item row="16" column="0">
          <widget class="QCheckBox" name="checkBox_gainCompensation">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="10" column="1">
          <widget class="QLabel" name="label_voxel_2">
           <property name="text">
            <string>Number of samples to keep, done with a random sample filter. Only used when clouds are assembled. Set 0 to disable.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="3" column="1">
          <widget class="QLabel" name="label_binaryFile">
           <property name="text">
            <string>Binary file (for ply and pcd outputs).</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="13" column="1">
          <widget class="QLabel" name="label_regenerate">
           <property name="text">
            <string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="12" column="0">
          <widget class="QCheckBox" name="checkBox_nodes_filtering">
           <property name="text">
            <string/>
           </property>
          </widget>
         </item>
         <item row="4" column="1">
          <widget class="QLabel" name="label_binaryFile_2">
           <property name="text">
            <string>Assemble clouds/meshes to a single output cloud/mesh.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="8" column="1">
          <widget class="QLabel" name="label_normal_3">
           <property name="text">
            <string>Flip ground normals up if close to -z axis. Set to 0.9 to begin with, increase to limit normals very close to -z axis. Set 0 to disable.</string>
           </property>
           <property name="wordWrap">
            <bool>true</bool>
           </property>
          </widget>
         </item>
         <item row="8" column="0">
          <widget class="QDoubleSpinBox" name="doubleSpinBox_groundNormalsUp">
           <property name="maximum">
            <double>1.000000000000000</double>
           </property>
           <property name="singleStep">
            <double>0.010000000000000</double>
           </property>
          </widget>
         </item>
        </layout>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_nodes_filtering">
         <property name="title">
          <string>Nodes Filtering</string>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_19">
          <item>
           <widget class="QLabel" name="label_114">
            <property name="text">
             <string>Set min and max range values on each axis. Nodes inside those ranges will be exported. If the min and max are equals, there is no filtering on that axis. For example for 2D map, set Z min and Z max to 0. To filter just in altitude, set only Z ranges.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item>
           <layout class="QGridLayout" name="gridLayout_21">
            <item row="0" column="2">
             <widget class="QLabel" name="label_113">
              <property name="text">
               <string>X max</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QLabel" name="label_142">
              <property name="toolTip">
               <string>Length along X-Axis</string>
              </property>
              <property name="text">
               <string>Y min</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_ymin">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="2">
             <widget class="QLabel" name="label_115">
              <property name="toolTip">
               <string>Width along Y-Axis</string>
              </property>
              <property name="text">
               <string>Y max</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QLabel" name="label_116">
              <property name="toolTip">
               <string>Height along Z-Axis</string>
              </property>
              <property name="text">
               <string>Z min</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="2">
             <widget class="QLabel" name="label_119">
              <property name="toolTip">
               <string>Width along Y-Axis</string>
              </property>
              <property name="text">
               <string>Z max</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QLabel" name="label_111">
              <property name="text">
               <string>X min</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="4">
             <spacer name="horizontalSpacer">
              <property name="orientation">
               <enum>Qt::Horizontal</enum>
              </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>40</width>
                <height>20</height>
               </size>
              </property>
             </spacer>
            </item>
            <item row="0" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_xmin">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="0" column="3">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_xmax">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_zmin">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="3">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_ymax">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="2" column="3">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_nodes_filtering_zmax">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>0</number>
              </property>
              <property name="minimum">
               <double>-9999999.000000000000000</double>
              </property>
              <property name="maximum">
               <double>9999999.000000000000000</double>
              </property>
             </widget>
            </item>
           </layout>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_regenerateScans">
         <property name="title">
          <string>Regenerate Scans</string>
         </property>
         <layout class="QGridLayout" name="gridLayout_18" columnstretch="0,1">
          <item row="0" column="0">
           <widget class="QSpinBox" name="spinBox_decimation_scan">
            <property name="minimum">
             <number>-32</number>
            </property>
            <property name="maximum">
             <number>32</number>
            </property>
            <property name="value">
             <number>1</number>
            </property>
           </widget>
          </item>
          <item row="0" column="1">
           <widget class="QLabel" name="label_109">
            <property name="text">
             <string>Downsampling step.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="1" column="1">
           <widget class="QLabel" name="label_138">
            <property name="text">
             <string>Minimum range.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="1" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_rangeMin">
            <property name="suffix">
             <string> m</string>
            </property>
            <property name="decimals">
             <number>1</number>
            </property>
            <property name="maximum">
             <double>100.000000000000000</double>
            </property>
            <property name="singleStep">
             <double>0.100000000000000</double>
            </property>
            <property name="value">
             <double>0.000000000000000</double>
            </property>
           </widget>
          </item>
          <item row="2" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_rangeMax">
            <property name="suffix">
             <string> m</string>
            </property>
            <property name="decimals">
             <number>1</number>
            </property>
            <property name="maximum">
             <double>1000.000000000000000</double>
            </property>
            <property name="singleStep">
             <double>0.100000000000000</double>
            </property>
            <property name="value">
             <double>0.000000000000000</double>
            </property>
           </widget>
          </item>
          <item row="2" column="1">
           <widget class="QLabel" name="label_139">
            <property name="text">
             <string>Maximum range (0 means no limit).</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_regenerate">
         <property name="title">
          <string>Regenerate Clouds</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_14">
          <item>
           <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
            <item row="3" column="1">
             <widget class="QLineEdit" name="lineEdit_roiRatios"/>
            </item>
            <item row="2" column="2">
             <widget class="QLabel" name="label_133">
              <property name="text">
               <string>3D cloud minimum depth.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QSpinBox" name="spinBox_fillDepthHolesError">
              <property name="suffix">
               <string> %</string>
              </property>
             </widget>
            </item>
            <item row="6" column="2">
             <widget class="QLabel" name="label_134">
              <property name="text">
               <string>Path to a depth distortion model to apply (output from depth calibration).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QSpinBox" name="spinBox_fillDepthHoles">
              <property name="suffix">
               <string> pixels</string>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="maximum">
               <double>100.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>4.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="2">
             <widget class="QLabel" name="label_135">
              <property name="text">
               <string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLineEdit" name="lineEdit_distortionModel"/>
            </item>
            <item row="2" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="maximum">
               <double>100.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="0" column="2">
             <widget class="QLabel" name="label_108">
              <property name="text">
               <string>3D cloud decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="2">
             <widget class="QLabel" name="label_132">
              <property name="text">
               <string>3D cloud maximum depth (0 means no limit).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QSpinBox" name="spinBox_decimation">
              <property name="minimum">
               <number>-32</number>
              </property>
              <property name="maximum">
               <number>32</number>
              </property>
              <property name="value">
               <number>1</number>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QToolButton" name="toolButton_distortionModel">
              <property name="text">
               <string>...</string>
              </property>
             </widget>
            </item>
            <item row="10" column="2">
             <widget class="QLabel" name="label_137">
              <property name="text">
               <string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="5" column="2">
             <widget class="QLabel" name="label_198">
              <property name="text">
               <string>Fill depth hole error.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="10" column="1">
             <widget class="QCheckBox" name="checkBox_subtraction">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="8" column="1">
             <widget class="QCheckBox" name="checkBox_bilateral">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="4" column="2">
             <widget class="QLabel" name="label_197">
              <property name="text">
               <string>Fill depth hole size (0 means no fill).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
              <property name="textInteractionFlags">
               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
              </property>
             </widget>
            </item>
            <item row="8" column="2">
             <widget class="QLabel" name="label_136">
              <property name="text">
               <string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="7" column="2">
             <widget class="QLabel" name="label_147">
              <property name="text">
               <string>Depth's edge bleeding filter error (0 means disabled). Reduce depth noise around edges.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="7" column="1">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_depthEdgeFiltering">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="maximum">
               <double>100.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>4.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="9" column="2">
             <widget class="QLabel" name="label_149">
              <property name="text">
               <string>Minimum depth confidence: 0% is low confidence, 100% is high confidence. Ignored if no depth confidence images were recorded or if set to 0%.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="9" column="1">
             <widget class="QSpinBox" name="spinBox_depthConfidence">
              <property name="suffix">
               <string> %</string>
              </property>
              <property name="maximum">
               <number>100</number>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_bilateral">
            <property name="title">
             <string>Bilateral Filtering of the Depth Image</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
            <layout class="QGridLayout" name="gridLayout_13" columnstretch="0,1">
             <item row="1" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaR">
               <property name="suffix">
                <string/>
               </property>
               <property name="decimals">
                <number>4</number>
               </property>
               <property name="minimum">
                <double>0.000100000000000</double>
               </property>
               <property name="maximum">
                <double>1.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.001000000000000</double>
               </property>
               <property name="value">
                <double>0.005000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLabel" name="label_194">
               <property name="text">
                <string>Standard deviation of the Gaussian for the intensity difference. Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case).</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
               </property>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaS">
               <property name="suffix">
                <string/>
               </property>
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>0.100000000000000</double>
               </property>
               <property name="maximum">
                <double>100.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>1.000000000000000</double>
               </property>
               <property name="value">
                <double>5.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QLabel" name="label_195">
               <property name="text">
                <string>Size of the Gaussian bilateral filter window to use. Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_subtraction">
            <property name="title">
             <string>Cloud Subtraction</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
            <layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
             <item row="2" column="1">
              <widget class="QLabel" name="label_174">
               <property name="text">
                <string>Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLabel" name="label_193">
               <property name="text">
                <string>Point angle used to keep only points with similar normal between the current cloud and the previous one.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
               </property>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_subtractPointFilteringRadius">
               <property name="suffix">
                <string/>
               </property>
               <property name="minimum">
                <double>0.010000000000000</double>
               </property>
               <property name="maximum">
                <double>1.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.010000000000000</double>
               </property>
               <property name="value">
                <double>0.020000000000000</double>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QLabel" name="label_192">
               <property name="text">
                <string>Point radius used to find close points between the current cloud and the previous one.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="textInteractionFlags">
                <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QSpinBox" name="spinBox_subtractFilteringMinPts">
               <property name="minimum">
                <number>1</number>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_subtractPointFilteringAngle">
               <property name="suffix">
                <string> degrees</string>
               </property>
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="maximum">
                <double>180.000000000000000</double>
               </property>
               <property name="value">
                <double>30.000000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_filtering">
         <property name="title">
          <string>Cloud Filtering</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_20">
          <item>
           <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_floorHeight">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="minimum">
               <double>-1000.000000000000000</double>
              </property>
              <property name="maximum">
               <double>1000.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_filteringRadius">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>3</number>
              </property>
              <property name="minimum">
               <double>0.000000000000000</double>
              </property>
              <property name="maximum">
               <double>1.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.010000000000000</double>
              </property>
              <property name="value">
               <double>0.020000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QSpinBox" name="spinBox_filteringMinNeighbors">
              <property name="minimum">
               <number>1</number>
              </property>
              <property name="maximum">
               <number>100</number>
              </property>
              <property name="value">
               <number>2</number>
              </property>
             </widget>
            </item>
            <item row="5" column="1">
             <widget class="QLabel" name="label_144">
              <property name="text">
               <string>Footprint length.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_footprintWidth">
              <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>1000.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_footprintLength">
              <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>1000.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLabel" name="label_145">
              <property name="text">
               <string>Footprint height. If negative, the footprint is filtered between [-height:height] around the base frame, otherwise it is [0:height]</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingHeight">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="minimum">
               <double>-1000.000000000000000</double>
              </property>
              <property name="maximum">
               <double>1000.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_141">
              <property name="text">
               <string>Floor filtering height. This is done in map frame.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_110">
              <property name="text">
               <string>Search radius.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_143">
              <property name="text">
               <string>Footprint width.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_footprintHeight">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="minimum">
               <double>-1000.000000000000000</double>
              </property>
              <property name="maximum">
               <double>1000.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_112">
              <property name="text">
               <string>Minimum neighbors in the search radius.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_140">
              <property name="text">
               <string>Ceiling filtering height. This is done in map frame.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_offAxisFiltering">
            <property name="title">
             <string>Off-Axis Filtering</string>
            </property>
            <property name="checkable">
             <bool>true</bool>
            </property>
            <property name="checked">
             <bool>true</bool>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_21">
             <item>
              <widget class="QLabel" name="label_148">
               <property name="text">
                <string>Keep only points with normals aligned with one/any of the map X-Y-Z axes.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_24">
               <item row="0" column="0">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringPosX">
                 <property name="text">
                  <string>+X</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="3">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringNegY">
                 <property name="text">
                  <string>-Y</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringNegX">
                 <property name="text">
                  <string>-X</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="2">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringPosY">
                 <property name="text">
                  <string>+Y</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="4">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringPosZ">
                 <property name="text">
                  <string>+Z</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="5">
                <widget class="QCheckBox" name="checkBox_offAxisFilteringNegZ">
                 <property name="text">
                  <string>-Z</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="6">
                <spacer name="horizontalSpacer_2">
                 <property name="orientation">
                  <enum>Qt::Horizontal</enum>
                 </property>
                 <property name="sizeHint" stdset="0">
                  <size>
                   <width>40</width>
                   <height>20</height>
                  </size>
                 </property>
                </spacer>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
               <item row="0" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_offAxisFilteringAngle">
                 <property name="suffix">
                  <string> deg</string>
                 </property>
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="minimum">
                  <double>0.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>179.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="value">
                  <double>10.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QLabel" name="label_146">
                 <property name="text">
                  <string>Max angle error to keep the points. </string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_mls">
         <property name="title">
          <string>Cloud Smoothing</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <property name="checked">
          <bool>false</bool>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout">
          <item>
           <widget class="QLabel" name="label">
            <property name="text">
             <string>WARNING: This adds significative time to process, though the clouds will be more smooth.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item>
           <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
            <item row="0" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>3</number>
              </property>
              <property name="maximum">
               <double>1.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.010000000000000</double>
              </property>
              <property name="value">
               <double>0.040000000000000</double>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QComboBox" name="comboBox_upsamplingMethod">
              <item>
               <property name="text">
                <string>NONE</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>DISTINCT_CLOUD</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>SAMPLE_LOCAL_PLANE</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>RANDOM_UNIFORM_DENSITY</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>VOXEL_GRID_DILATION</string>
               </property>
              </item>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_87">
              <property name="text">
               <string>MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. 
Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_88">
              <property name="text">
               <string>Upsampling method.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_89">
              <property name="text">
               <string>Polygonial order. Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation (value=0).</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QSpinBox" name="spinBox_polygonialOrder">
              <property name="minimum">
               <number>0</number>
              </property>
              <property name="maximum">
               <number>4</number>
              </property>
              <property name="value">
               <number>2</number>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_90">
              <property name="text">
               <string>Output voxel size. Used to filter superposed points after upsampling.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_mls_outputVoxelSize">
              <property name="decimals">
               <number>3</number>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QStackedWidget" name="stackedWidget_upsampling">
            <property name="currentIndex">
             <number>4</number>
            </property>
            <widget class="QWidget" name="page">
             <layout class="QVBoxLayout" name="verticalLayout_3">
              <item>
               <widget class="QGroupBox" name="groupBox">
                <property name="title">
                 <string>NONE</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_8">
                 <item>
                  <widget class="QLabel" name="label_2">
                   <property name="text">
                    <string>No upsampling will be done, only the input points will be projected to their own MLS surfaces.</string>
                   </property>
                   <property name="wordWrap">
                    <bool>true</bool>
                   </property>
                  </widget>
                 </item>
                 <item>
                  <spacer name="verticalSpacer_2">
                   <property name="orientation">
                    <enum>Qt::Vertical</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
                </layout>
               </widget>
              </item>
             </layout>
            </widget>
            <widget class="QWidget" name="page_2">
             <layout class="QVBoxLayout" name="verticalLayout_4">
              <item>
               <widget class="QGroupBox" name="groupBox_2">
                <property name="title">
                 <string>DISTINCT_CLOUD</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_9">
                 <item>
                  <widget class="QLabel" name="label_3">
                   <property name="text">
                    <string>Will project the points of the distinct cloud to the closest point on the MLS surface.</string>
                   </property>
                   <property name="wordWrap">
                    <bool>true</bool>
                   </property>
                  </widget>
                 </item>
                 <item>
                  <spacer name="verticalSpacer_3">
                   <property name="orientation">
                    <enum>Qt::Vertical</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
                </layout>
               </widget>
              </item>
             </layout>
            </widget>
            <widget class="QWidget" name="page_3">
             <layout class="QVBoxLayout" name="verticalLayout_7">
              <item>
               <widget class="QGroupBox" name="groupBox_3">
                <property name="title">
                 <string>SAMPLE_LOCAL_PLANE</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_10">
                 <item>
                  <widget class="QLabel" name="label_4">
                   <property name="text">
                    <string>The local plane of each input point will be sampled in a circular fashion.</string>
                   </property>
                   <property name="wordWrap">
                    <bool>true</bool>
                   </property>
                  </widget>
                 </item>
                 <item>
                  <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
                   <item row="1" column="1">
                    <widget class="QLabel" name="label_8">
                     <property name="text">
                      <string>Set the step size for the local plane sampling.</string>
                     </property>
                     <property name="wordWrap">
                      <bool>true</bool>
                     </property>
                    </widget>
                   </item>
                   <item row="0" column="0">
                    <widget class="QDoubleSpinBox" name="doubleSpinBox_sampleRadius">
                     <property name="decimals">
                      <number>3</number>
                     </property>
                    </widget>
                   </item>
                   <item row="0" column="1">
                    <widget class="QLabel" name="label_7">
                     <property name="text">
                      <string>Set the radius of the circle in the local point plane that will be sampled.</string>
                     </property>
                     <property name="wordWrap">
                      <bool>true</bool>
                     </property>
                    </widget>
                   </item>
                   <item row="1" column="0">
                    <widget class="QDoubleSpinBox" name="doubleSpinBox_sampleStep">
                     <property name="decimals">
                      <number>3</number>
                     </property>
                    </widget>
                   </item>
                  </layout>
                 </item>
                 <item>
                  <spacer name="verticalSpacer_4">
                   <property name="orientation">
                    <enum>Qt::Vertical</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
                </layout>
               </widget>
              </item>
             </layout>
            </widget>
            <widget class="QWidget" name="page_4">
             <layout class="QVBoxLayout" name="verticalLayout_6">
              <item>
               <widget class="QGroupBox" name="groupBox_4">
                <property name="title">
                 <string>RANDOM_UNIFORM_DENSITY</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_11">
                 <item>
                  <widget class="QLabel" name="label_5">
                   <property name="text">
                    <string>The local plane of each input point will be sampled using an uniform random distribution such that the density of points is constant throughout the cloud.</string>
                   </property>
                   <property name="wordWrap">
                    <bool>true</bool>
                   </property>
                  </widget>
                 </item>
                 <item>
                  <layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
                   <item row="0" column="0">
                    <widget class="QSpinBox" name="spinBox_randomPoints"/>
                   </item>
                   <item row="0" column="1">
                    <widget class="QLabel" name="label_9">
                     <property name="text">
                      <string>Set the parameter that specifies the desired number of points within the search radius.</string>
                     </property>
                     <property name="wordWrap">
                      <bool>true</bool>
                     </property>
                    </widget>
                   </item>
                  </layout>
                 </item>
                 <item>
                  <spacer name="verticalSpacer_5">
                   <property name="orientation">
                    <enum>Qt::Vertical</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
                </layout>
               </widget>
              </item>
             </layout>
            </widget>
            <widget class="QWidget" name="page_5">
             <layout class="QVBoxLayout" name="verticalLayout_5">
              <item>
               <widget class="QGroupBox" name="groupBox_5">
                <property name="title">
                 <string>VOXEL_GRID_DILATION</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_12">
                 <item>
                  <widget class="QLabel" name="label_6">
                   <property name="text">
                    <string>The input cloud will be inserted into a voxel grid. This voxel grid will be dilated and the resulting points will be projected to the MLS surface of the closest point in the input cloud. The result is a point cloud with filled holes and a constant point density.</string>
                   </property>
                   <property name="wordWrap">
                    <bool>true</bool>
                   </property>
                  </widget>
                 </item>
                 <item>
                  <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
                   <item row="0" column="1">
                    <widget class="QLabel" name="label_10">
                     <property name="text">
                      <string>Set the voxel size for the voxel grid.</string>
                     </property>
                     <property name="wordWrap">
                      <bool>true</bool>
                     </property>
                    </widget>
                   </item>
                   <item row="0" column="0">
                    <widget class="QDoubleSpinBox" name="doubleSpinBox_dilationVoxelSize">
                     <property name="decimals">
                      <number>3</number>
                     </property>
                    </widget>
                   </item>
                   <item row="1" column="1">
                    <widget class="QLabel" name="label_11">
                     <property name="text">
                      <string>Set the number of dilation steps of the voxel grid.</string>
                     </property>
                     <property name="wordWrap">
                      <bool>true</bool>
                     </property>
                    </widget>
                   </item>
                   <item row="1" column="0">
                    <widget class="QSpinBox" name="spinBox_dilationSteps"/>
                   </item>
                  </layout>
                 </item>
                 <item>
                  <spacer name="verticalSpacer_6">
                   <property name="orientation">
                    <enum>Qt::Vertical</enum>
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
                     <width>20</width>
                     <height>0</height>
                    </size>
                   </property>
                  </spacer>
                 </item>
                </layout>
               </widget>
              </item>
             </layout>
            </widget>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_gain">
         <property name="title">
          <string>Gain Compensation</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
          <item row="2" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
            <property name="suffix">
             <string/>
            </property>
            <property name="decimals">
             <number>1</number>
            </property>
            <property name="minimum">
             <double>0.100000000000000</double>
            </property>
            <property name="maximum">
             <double>1000.000000000000000</double>
            </property>
            <property name="singleStep">
             <double>1.000000000000000</double>
            </property>
            <property name="value">
             <double>100.000000000000000</double>
            </property>
           </widget>
          </item>
          <item row="4" column="1">
           <widget class="QLabel" name="label_binaryFile_7">
            <property name="text">
             <string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="1" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
            <property name="suffix">
             <string/>
            </property>
            <property name="decimals">
             <number>2</number>
            </property>
            <property name="minimum">
             <double>0.000000000000000</double>
            </property>
            <property name="maximum">
             <double>1.000000000000000</double>
            </property>
            <property name="singleStep">
             <double>0.010000000000000</double>
            </property>
            <property name="value">
             <double>0.050000000000000</double>
            </property>
           </widget>
          </item>
          <item row="4" column="0">
           <widget class="QCheckBox" name="checkBox_gainFull">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
          <item row="0" column="1">
           <widget class="QLabel" name="label_binaryFile_3">
            <property name="text">
             <string>Correspondence radius</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="2" column="1">
           <widget class="QLabel" name="label_binaryFile_5">
            <property name="text">
             <string>Beta. The lower, the higher the compensation is but images are darker. When texturing, brightness and contrast balance below can be activated to re-increase brightness (e.g., set high ratio to 20%).</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="0" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_gainRadius">
            <property name="suffix">
             <string> m</string>
            </property>
            <property name="decimals">
             <number>3</number>
            </property>
            <property name="minimum">
             <double>0.001000000000000</double>
            </property>
            <property name="maximum">
             <double>10.000000000000000</double>
            </property>
            <property name="singleStep">
             <double>0.010000000000000</double>
            </property>
            <property name="value">
             <double>0.020000000000000</double>
            </property>
           </widget>
          </item>
          <item row="1" column="1">
           <widget class="QLabel" name="label_binaryFile_6">
            <property name="text">
             <string>Min overlap (%)</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="3" column="1">
           <widget class="QLabel" name="label_binaryFile_8">
            <property name="text">
             <string>Gain on each RGB channel separatly.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="3" column="0">
           <widget class="QCheckBox" name="checkBox_gainRGB">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_cameraProjection">
         <property name="title">
          <string>Camera Projection</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <layout class="QGridLayout" name="gridLayout_20" columnstretch="0,0,0,1">
          <item row="7" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_14">
            <property name="text">
             <string>Distance to camera policy. The closest camera from a point is used to colorize the point. If disabled, the camera for which the point projection is the closest of the image center is used to colorize the point.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="9" column="2">
           <widget class="QLabel" name="label_meshingTextureSize_18">
            <property name="text">
             <string>Recolor points from camera projection. This would be used to color laser scans with the cameras.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="6" column="1">
           <widget class="QLineEdit" name="lineEdit_camProjMaskFilePath"/>
          </item>
          <item row="10" column="1">
           <widget class="QComboBox" name="comboBox_camProjExportCamera">
            <property name="toolTip">
             <string>By Node ID: cameras of same node have same ID
By Camera Index: of a multi-cameras setup
By Node ID and Camera Index: NodeID*10+CameraIndex</string>
            </property>
            <item>
             <property name="text">
              <string>Disabled</string>
             </property>
            </item>
            <item>
             <property name="text">
              <string>By Node ID</string>
             </property>
            </item>
            <item>
             <property name="text">
              <string>By Camera Index</string>
             </property>
            </item>
            <item>
             <property name="text">
              <string>By Node ID and Camera Index</string>
             </property>
            </item>
           </widget>
          </item>
          <item row="9" column="1">
           <widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
          <item row="2" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_13">
            <property name="text">
             <string>Maximum distance from the camera for points to be colorized by this camera (0 means infinite).</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="8" column="1">
           <widget class="QCheckBox" name="checkBox_camProjKeepPointsNotSeenByCameras">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
          <item row="1" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_17">
            <property name="text">
             <string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="6" column="0">
           <widget class="QToolButton" name="toolButton_camProjMaskFilePath">
            <property name="text">
             <string>...</string>
            </property>
           </widget>
          </item>
          <item row="5" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_16">
            <property name="text">
             <string>Decimation of camera resolution before projection. This can help to correctly estimate points hidden by other points, in case the point cloud is sparse.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="3" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxAngle">
            <property name="suffix">
             <string> deg</string>
            </property>
            <property name="decimals">
             <number>0</number>
            </property>
            <property name="minimum">
             <double>0.000000000000000</double>
            </property>
            <property name="maximum">
             <double>180.000000000000000</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="QLineEdit" name="lineEdit_camProjRoiRatios"/>
          </item>
          <item row="5" column="1">
           <widget class="QSpinBox" name="spinBox_camProjDecimation">
            <property name="suffix">
             <string/>
            </property>
            <property name="minimum">
             <number>1</number>
            </property>
            <property name="maximum">
             <number>9999</number>
            </property>
            <property name="singleStep">
             <number>1</number>
            </property>
            <property name="value">
             <number>1</number>
            </property>
           </widget>
          </item>
          <item row="7" column="1">
           <widget class="QCheckBox" name="checkBox_camProjDistanceToCamPolicy">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
          <item row="6" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_19">
            <property name="text">
             <string>File path for a mask. Format should be 8-bits grayscale. The mask should cover all cameras in case multi-camera is used and have the same resolution.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="3" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_12">
            <property name="text">
             <string>Maximum angle between camera and point's normal to apply color (0 means disabled).</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="10" column="2" colspan="2">
           <widget class="QLabel" name="label_camProjExportCamera">
            <property name="text">
             <string>ID format of the camera selected for each point.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="2" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDistance">
            <property name="suffix">
             <string> m</string>
            </property>
            <property name="decimals">
             <number>1</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="8" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_15">
            <property name="text">
             <string>Keep points not seen by the cameras. These points will be set with a pure red color (255,0,0) if the cloud was created from laser scans.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
          <item row="4" column="1">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDepthError">
            <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>9.990000000000000</double>
            </property>
            <property name="singleStep">
             <double>0.050000000000000</double>
            </property>
            <property name="value">
             <double>0.000000000000000</double>
            </property>
           </widget>
          </item>
          <item row="4" column="2" colspan="2">
           <widget class="QLabel" name="label_meshingTextureSize_20">
            <property name="text">
             <string>For all points registered to same pixel, only those close enough to the closest point will be colored with same color (0 means only the closest point of all points registered in same pixel is colored).</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
       <item>
        <widget class="QGroupBox" name="groupBox_meshing">
         <property name="title">
          <string>Meshing</string>
         </property>
         <property name="checkable">
          <bool>false</bool>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_15">
          <item>
           <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
            <item row="5" column="1">
             <widget class="QLabel" name="label_meshClean">
              <property name="text">
               <string>Clean mesh from polygons without color or texture.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_denseReconstruction">
              <property name="text">
               <string>Surface reconstruction approach. Poisson is available when clouds are assembled and dense reconstruction flavor is selected. CPU-TSDF is available when clouds are assembled, organized reconstruction flavor is selected and RTAB-Map is built with CPU-TSDF support. OpenChisel is available when clouds are assembled and RTAB-Map is built with OpenChisel support.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
              <property name="decimals">
               <number>2</number>
              </property>
              <property name="minimum">
               <double>0.000000000000000</double>
              </property>
              <property name="maximum">
               <double>0.990000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.100000000000000</double>
              </property>
              <property name="value">
               <double>0.000000000000000</double>
              </property>
             </widget>
            </item>
            <item row="3" column="1">
             <widget class="QLabel" name="label_meshDecimation_2">
              <property name="text">
               <string>Transferring color radius. Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="1" column="1">
             <widget class="QLabel" name="label_meshDecimation">
              <property name="text">
               <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when organized mesh approach is not selected. Can reduce a lot texturing time.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="4" column="1">
             <widget class="QLabel" name="label_textureMapping">
              <property name="text">
               <string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Available on Export or when clouds are not assembled.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="0" column="0">
             <widget class="QComboBox" name="comboBox_meshingApproach">
              <item>
               <property name="text">
                <string>Fast GP3</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Poisson</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>CPU-TSDF</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Organized</string>
               </property>
              </item>
              <item>
               <property name="text">
                <string>Open Chisel (TSDF)</string>
               </property>
              </item>
             </widget>
            </item>
            <item row="4" column="0">
             <widget class="QCheckBox" name="checkBox_textureMapping">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="3" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
              <property name="suffix">
               <string> m</string>
              </property>
              <property name="decimals">
               <number>3</number>
              </property>
              <property name="minimum">
               <double>-1.000000000000000</double>
              </property>
              <property name="maximum">
               <double>10.000000000000000</double>
              </property>
              <property name="singleStep">
               <double>0.010000000000000</double>
              </property>
              <property name="value">
               <double>0.050000000000000</double>
              </property>
             </widget>
            </item>
            <item row="6" column="0">
             <widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
              <property name="minimum">
               <number>-1</number>
              </property>
              <property name="maximum">
               <number>99999</number>
              </property>
             </widget>
            </item>
            <item row="5" column="0">
             <widget class="QCheckBox" name="checkBox_cleanMesh">
              <property name="text">
               <string/>
              </property>
             </widget>
            </item>
            <item row="6" column="1">
             <widget class="QLabel" name="label_16">
              <property name="text">
               <string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
              </property>
             </widget>
            </item>
            <item row="2" column="1">
             <widget class="QLabel" name="label_meshMaxPolygons">
              <property name="text">
               <string>Maximum polygons (0=no max). Another way to do mesh quadric decimation, the factor will be computed depending on the polygons generated.</string>
              </property>
              <property name="wordWrap">
               <bool>true</bool>
              </property>
             </widget>
            </item>
            <item row="2" column="0">
             <widget class="QSpinBox" name="spinBox_meshMaxPolygons">
              <property name="suffix">
               <string/>
              </property>
              <property name="minimum">
               <number>0</number>
              </property>
              <property name="maximum">
               <number>10000000</number>
              </property>
              <property name="singleStep">
               <number>50000</number>
              </property>
              <property name="value">
               <number>9</number>
              </property>
             </widget>
            </item>
           </layout>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_textureMapping">
            <property name="title">
             <string>Texturing</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
            <property name="checked">
             <bool>false</bool>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_16">
             <item>
              <layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
               <item row="11" column="0">
                <widget class="QCheckBox" name="checkBox_blending">
                 <property name="text">
                  <string/>
                 </property>
                </widget>
               </item>
               <item row="10" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_3">
                 <property name="text">
                  <string>Camera filtering. Some criteria to select which cameras are used for texturing.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="4" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
                 <property name="suffix">
                  <string> m</string>
                 </property>
                 <property name="decimals">
                  <number>1</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>3.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QLabel" name="label_meshingTextureFormat">
                 <property name="text">
                  <string>Texture format.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="6" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_10">
                 <property name="text">
                  <string>Maximum angle between camera and face to apply texture (0 means disabled).</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="16" column="1">
                <widget class="QLabel" name="label_exposureFusion">
                 <property name="text">
                  <string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="13" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_5">
                 <property name="text">
                  <string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="4" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_2">
                 <property name="text">
                  <string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="8" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_11">
                 <property name="text">
                  <string>Distance to camera policy. The closest camera from a polygon is used to texture the polygon. If disabled, the camera for which the polygon projection is the closest of the image center is used to texture the polygon.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="14" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_6">
                 <property name="text">
                  <string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="2" column="0">
                <widget class="QSpinBox" name="spinBox_mesh_maxTextures">
                 <property name="minimum">
                  <number>1</number>
                 </property>
                 <property name="maximum">
                  <number>20</number>
                 </property>
                </widget>
               </item>
               <item row="12" column="0">
                <widget class="QComboBox" name="comboBox_blendingDecimation">
                 <item>
                  <property name="text">
                   <string>Auto</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>1</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>2</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>4</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>8</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>16</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>32</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>64</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="7" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_4">
                 <property name="text">
                  <string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="14" column="0">
                <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
                 <property name="suffix">
                  <string> %</string>
                 </property>
                 <property name="minimum">
                  <number>0</number>
                 </property>
                 <property name="maximum">
                  <number>49</number>
                 </property>
                </widget>
               </item>
               <item row="11" column="1">
                <widget class="QLabel" name="label_exposureFusion_2">
                 <property name="text">
                  <string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="17" column="1">
                <widget class="QLabel" name="label_multiband">
                 <property name="text">
                  <string>MultiBand texturing. Only available on export and RTAB-Map should be built with AliceVision support.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="6" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxAngle">
                 <property name="suffix">
                  <string> deg</string>
                 </property>
                 <property name="decimals">
                  <number>0</number>
                 </property>
                 <property name="minimum">
                  <double>0.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>180.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="5" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDepthError">
                 <property name="suffix">
                  <string> m</string>
                 </property>
                 <property name="decimals">
                  <number>2</number>
                 </property>
                 <property name="minimum">
                  <double>-1.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>99.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.050000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="3" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_7">
                 <property name="text">
                  <string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="17" column="0">
                <widget class="QCheckBox" name="checkBox_multiband">
                 <property name="text">
                  <string/>
                 </property>
                </widget>
               </item>
               <item row="16" column="0">
                <widget class="QCheckBox" name="checkBox_exposureFusion">
                 <property name="text">
                  <string/>
                 </property>
                </widget>
               </item>
               <item row="1" column="1">
                <widget class="QLabel" name="label_meshingTextureSize">
                 <property name="text">
                  <string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="0" column="0">
                <widget class="QComboBox" name="comboBox_meshingTextureFormat">
                 <item>
                  <property name="text">
                   <string>.jpg</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>.png</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="7" column="0">
                <widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
                 <property name="minimum">
                  <number>0</number>
                 </property>
                 <property name="maximum">
                  <number>99999</number>
                 </property>
                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QComboBox" name="comboBox_meshingTextureSize">
                 <item>
                  <property name="text">
                   <string>Disabled</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>256x256</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>512x512</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>1024x1024</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>2048x2048</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>4096x4096</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>8192x8192</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>16384x16384</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>32768x32768</string>
                  </property>
                 </item>
                </widget>
               </item>
               <item row="8" column="0">
                <widget class="QCheckBox" name="checkBox_distanceToCamPolicy">
                 <property name="text">
                  <string/>
                 </property>
                </widget>
               </item>
               <item row="2" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_8">
                 <property name="text">
                  <string>Maximum output textures.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="3" column="0">
                <widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
               </item>
               <item row="12" column="1">
                <widget class="QLabel" name="label_exposureFusion_3">
                 <property name="text">
                  <string>Blending decimation. </string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="5" column="1">
                <widget class="QLabel" name="label_meshingTextureSize_9">
                 <property name="text">
                  <string>Maximum depth error between reconstructed mesh projection in camera and corresponding value in depth image to apply texturing (negative means disabled, 0 means that longest edge length of the face is used as maximum error).</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="13" column="0">
                <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
                 <property name="suffix">
                  <string> %</string>
                 </property>
                 <property name="minimum">
                  <number>0</number>
                 </property>
                 <property name="maximum">
                  <number>49</number>
                 </property>
                </widget>
               </item>
               <item row="10" column="0">
                <widget class="QCheckBox" name="checkBox_cameraFilter">
                 <property name="text">
                  <string/>
                 </property>
                </widget>
               </item>
               <item row="9" column="1">
                <widget class="QLabel" name="label_texturingVertexColorPolicy">
                 <property name="text">
                  <string>Output vertex color policy.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="9" column="0">
                <widget class="QComboBox" name="comboBox_texturingColorPolicy">
                 <item>
                  <property name="text">
                   <string>Colorless (standard OBJ)</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Keep color on textureless polygons only</string>
                  </property>
                 </item>
                 <item>
                  <property name="text">
                   <string>Keep all color</string>
                  </property>
                 </item>
                </widget>
               </item>
              </layout>
             </item>
             <item>
              <widget class="QGroupBox" name="groupBox_cameraFilter">
               <property name="title">
                <string>Camera Filtering</string>
               </property>
               <layout class="QGridLayout" name="gridLayout_16" columnstretch="0,0,1">
                <item row="0" column="0">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterRadius">
                  <property name="suffix">
                   <string> m</string>
                  </property>
                  <property name="decimals">
                   <number>3</number>
                  </property>
                  <property name="minimum">
                   <double>0.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>0.100000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="0" column="2">
                 <widget class="QLabel" name="label_37">
                  <property name="text">
                   <string>Only one camera in a fixed radius and angle is used for texturing. Radius of 0 m means disabled.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="1" column="1">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_laplacianVariance">
                  <property name="suffix">
                   <string/>
                  </property>
                  <property name="decimals">
                   <number>0</number>
                  </property>
                  <property name="minimum">
                   <double>0.000000000000000</double>
                  </property>
                  <property name="maximum">
                   <double>9999.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>0.000000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="0" column="1">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterAngle">
                  <property name="suffix">
                   <string> deg</string>
                  </property>
                  <property name="decimals">
                   <number>1</number>
                  </property>
                  <property name="maximum">
                   <double>180.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>30.000000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="1" column="2">
                 <widget class="QLabel" name="label_38">
                  <property name="text">
                   <string>Laplacian variance threshold. Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="2" column="1">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVelRad">
                  <property name="suffix">
                   <string> rad/s</string>
                  </property>
                  <property name="decimals">
                   <number>3</number>
                  </property>
                  <property name="minimum">
                   <double>0.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>0.100000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="2" column="0">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVel">
                  <property name="suffix">
                   <string> m/s</string>
                  </property>
                  <property name="decimals">
                   <number>3</number>
                  </property>
                  <property name="minimum">
                   <double>0.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>0.100000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="2" column="2">
                 <widget class="QLabel" name="label_39">
                  <property name="text">
                   <string>Maximum speed to keep a camera view for texturing. Images taken on fast motions would be more blurry. 0 means disabled. 0.1 m/s and 0.4 rad/s can be good defaults.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
               </layout>
              </widget>
             </item>
             <item>
              <widget class="QGroupBox" name="groupBox_multiband">
               <property name="title">
                <string>MultiBand Texturing</string>
               </property>
               <layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
                <item row="0" column="1">
                 <widget class="QLabel" name="label_49">
                  <property name="text">
                   <string>Downscaling to 4 or 8 will reduce the texture quality but speed up the computation time. Set Texture Downscale to 1 instead of 2 to get the maximum possible resolution with the resolution of your images. The output texture size will be divided by this value, e.g., with texture size of 8192 and downscale value of 2, the output will be 4096.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="4" column="1">
                 <widget class="QLabel" name="label_52">
                  <property name="text">
                   <string>Texture edge padding size in pixel.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="2" column="1">
                 <widget class="QLabel" name="label_50">
                  <property name="text">
                   <string>Unwrap method: 0=basic (default, &gt;600k faces, fast), 1=ABF (&lt;=300k faces, generate 1 atlas), 2=LSCM (&lt;=600k faces, optimize space).</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="7" column="1">
                 <widget class="QLabel" name="label_55">
                  <property name="text">
                   <string>Force visible by all vertices. Triangle visibility is based on the union of vertices visibility.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="0" column="0">
                 <widget class="QSpinBox" name="spinBox_multiband_downscale">
                  <property name="maximum">
                   <number>16</number>
                  </property>
                  <property name="value">
                   <number>2</number>
                  </property>
                 </widget>
                </item>
                <item row="2" column="0">
                 <widget class="QComboBox" name="comboBox_multiband_unwrap">
                  <item>
                   <property name="text">
                    <string>Basic</string>
                   </property>
                  </item>
                  <item>
                   <property name="text">
                    <string>ABF</string>
                   </property>
                  </item>
                  <item>
                   <property name="text">
                    <string>LSCM</string>
                   </property>
                  </item>
                 </widget>
                </item>
                <item row="6" column="1">
                 <widget class="QLabel" name="label_54">
                  <property name="text">
                   <string>Angle hard threshold. 0 to disable angle hard threshold filtering.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="5" column="1">
                 <widget class="QLabel" name="label_53">
                  <property name="text">
                   <string>Best score threshold. 0 to disable filtering based on threshold to relative best score.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="7" column="0">
                 <widget class="QCheckBox" name="checkBox_multiband_forcevisible">
                  <property name="text">
                   <string/>
                  </property>
                 </widget>
                </item>
                <item row="5" column="0">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_multiband_bestscore">
                  <property name="maximum">
                   <double>1.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>0.100000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="3" column="0">
                 <widget class="QCheckBox" name="checkBox_multiband_fillholes">
                  <property name="text">
                   <string/>
                  </property>
                 </widget>
                </item>
                <item row="6" column="0">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_multiband_angle">
                  <property name="decimals">
                   <number>1</number>
                  </property>
                  <property name="maximum">
                   <double>180.000000000000000</double>
                  </property>
                  <property name="value">
                   <double>90.000000000000000</double>
                  </property>
                 </widget>
                </item>
                <item row="3" column="1">
                 <widget class="QLabel" name="label_51">
                  <property name="text">
                   <string>Fill Texture holes with plausible values.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="4" column="0">
                 <widget class="QSpinBox" name="spinBox_multiband_padding">
                  <property name="maximum">
                   <number>100</number>
                  </property>
                  <property name="value">
                   <number>5</number>
                  </property>
                 </widget>
                </item>
                <item row="1" column="1">
                 <widget class="QLabel" name="label_56">
                  <property name="text">
                   <string>Number of contributions per frequency band for the multi-band blending. Should be 4 values.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                  <property name="textInteractionFlags">
                   <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                  </property>
                 </widget>
                </item>
                <item row="1" column="0">
                 <widget class="QLineEdit" name="lineEdit_multiband_nbcontrib">
                  <property name="text">
                   <string>1 5 10 0</string>
                  </property>
                 </widget>
                </item>
               </layout>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_gp3">
            <property name="title">
             <string>Greedy Projection Triangulation (GP3) Meshing</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
            <property name="checked">
             <bool>false</bool>
            </property>
            <layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
             <item row="2" column="1">
              <widget class="QLabel" name="label_169">
               <property name="text">
                <string>Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point  (this will make the algorithm adapt to different point densities in the cloud).</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
               <property name="suffix">
                <string> m</string>
               </property>
               <property name="decimals">
                <number>3</number>
               </property>
               <property name="maximum">
                <double>1.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.010000000000000</double>
               </property>
               <property name="value">
                <double>0.040000000000000</double>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLabel" name="label_168">
               <property name="text">
                <string>Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). 
Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Mu">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>0.100000000000000</double>
               </property>
               <property name="maximum">
                <double>100.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>1.000000000000000</double>
               </property>
               <property name="value">
                <double>2.500000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_poisson">
            <property name="title">
             <string>Poisson Surface Reconstruction</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
            <property name="checked">
             <bool>false</bool>
            </property>
            <layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
             <item row="0" column="1">
              <widget class="QLabel" name="label_172">
               <property name="text">
                <string>Depth. Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth), you can start tuning from depth of 8 or 9. 0 means that depth is chosen so that polygon size is just under target polygon size below.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="8" column="1">
              <widget class="QLabel" name="label_177">
               <property name="text">
                <string>Samples per node. Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. Note for noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="9" column="0">
              <widget class="QSpinBox" name="spinBox_poisson_iso">
               <property name="minimum">
                <number>1</number>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QLabel" name="label_176">
               <property name="text">
                <string>Manifold flag. Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="8" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_samples">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>0.100000000000000</double>
               </property>
               <property name="maximum">
                <double>30.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="6" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_scale">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>1.000000000000000</double>
               </property>
               <property name="maximum">
                <double>2.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QLabel" name="label_181">
               <property name="text">
                <string>Point weight.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="5" column="1">
              <widget class="QLabel" name="label_182">
               <property name="text">
                <string>Min depth.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="9" column="1">
              <widget class="QLabel" name="label_178">
               <property name="text">
                <string>Iso divide. Set the depth at which a block iso-surface extractor should be used to extract the iso-surface note Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QCheckBox" name="checkBox_poisson_manifold">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
             <item row="10" column="1">
              <widget class="QLabel" name="label_179">
               <property name="text">
                <string>Solver divide. Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. Note that using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="6" column="1">
              <widget class="QLabel" name="label_180">
               <property name="text">
                <string>Scale. Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QCheckBox" name="checkBox_poisson_outputPolygons">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
             <item row="10" column="0">
              <widget class="QSpinBox" name="spinBox_poisson_solver">
               <property name="minimum">
                <number>1</number>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QLabel" name="label_outputPolygons">
               <property name="text">
                <string>Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes). Disabled when exporting to file, if mesh decimation is set or when texturing.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_pointWeight">
               <property name="decimals">
                <number>1</number>
               </property>
               <property name="minimum">
                <double>0.100000000000000</double>
               </property>
              </widget>
             </item>
             <item row="5" column="0">
              <widget class="QSpinBox" name="spinBox_poisson_minDepth">
               <property name="minimum">
                <number>1</number>
               </property>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QSpinBox" name="spinBox_poisson_depth">
               <property name="minimum">
                <number>0</number>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLabel" name="label_outputPolygons_2">
               <property name="text">
                <string>Target polygon size used to compute Poisson's depth based on the map size.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_targetPolygonSize">
               <property name="suffix">
                <string> m</string>
               </property>
               <property name="decimals">
                <number>3</number>
               </property>
               <property name="minimum">
                <double>0.010000000000000</double>
               </property>
               <property name="singleStep">
                <double>0.100000000000000</double>
               </property>
               <property name="value">
                <double>0.030000000000000</double>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_cputsdf">
            <property name="title">
             <string>CPU-TSDF Reconstruction</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_17">
             <item>
              <widget class="QLabel" name="label_25">
               <property name="text">
                <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;a href=&quot;https://github.com/sdmiller/cpu_tsdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/sdmiller/cpu_tsdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="openExternalLinks">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_17" columnstretch="0,1">
               <item row="0" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_size">
                 <property name="suffix">
                  <string> m</string>
                 </property>
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="minimum">
                  <double>0.100000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>9999.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>1.000000000000000</double>
                 </property>
                 <property name="value">
                  <double>12.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="0" column="1">
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>Volume size.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_resolution">
                 <property name="suffix">
                  <string> m</string>
                 </property>
                 <property name="decimals">
                  <number>3</number>
                 </property>
                 <property name="minimum">
                  <double>0.001000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>99.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.010000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.010000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="1" column="1">
                <widget class="QLabel" name="label_20">
                 <property name="text">
                  <string>Resolution.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="2" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncPos">
                 <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>1.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.010000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.030000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="2" column="1">
                <widget class="QLabel" name="label_21">
                 <property name="text">
                  <string>Depth truncation positive limit. Maximum distance a voxel will be set to positive.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="3" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncNeg">
                 <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>1.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.010000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.030000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="3" column="1">
                <widget class="QLabel" name="label_22">
                 <property name="text">
                  <string>Depth truncation negative limit. Maximum distance a voxel will be set to negative.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="4" column="0">
                <widget class="QSpinBox" name="spinBox_cputsdf_randomSplit">
                 <property name="suffix">
                  <string/>
                 </property>
                 <property name="minimum">
                  <number>1</number>
                 </property>
                 <property name="maximum">
                  <number>99</number>
                 </property>
                </widget>
               </item>
               <item row="4" column="1">
                <widget class="QLabel" name="label_23">
                 <property name="text">
                  <string>Set the number of random samples per surface point the octree should split on. If you don't know what this does, it's almost certainly best to leave it at 1.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="5" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_minWeight">
                 <property name="suffix">
                  <string/>
                 </property>
                 <property name="decimals">
                  <number>1</number>
                 </property>
                 <property name="minimum">
                  <double>0.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>99.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.500000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.000000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="5" column="1">
                <widget class="QLabel" name="label_18">
                 <property name="text">
                  <string>Minimum weight of a voxel to be added in the mesh.</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="6" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_flattenRadius">
                 <property name="suffix">
                  <string> m</string>
                 </property>
                 <property name="decimals">
                  <number>4</number>
                 </property>
                 <property name="minimum">
                  <double>0.000000000000000</double>
                 </property>
                 <property name="maximum">
                  <double>9.000000000000000</double>
                 </property>
                 <property name="singleStep">
                  <double>0.005000000000000</double>
                 </property>
                 <property name="value">
                  <double>0.005000000000000</double>
                 </property>
                </widget>
               </item>
               <item row="6" column="1">
                <widget class="QLabel" name="label_24">
                 <property name="text">
                  <string>Flatten radius (0=disabled).</string>
                 </property>
                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_organized">
            <property name="title">
             <string>Organized Meshing</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
             <item row="2" column="1">
              <widget class="QLabel" name="label_15">
               <property name="text">
                <string>Triangle size</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLabel" name="label_quad">
               <property name="text">
                <string>Quad</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QCheckBox" name="checkBox_mesh_quad">
               <property name="text">
                <string/>
               </property>
               <property name="checked">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
               <property name="suffix">
                <string> deg</string>
               </property>
               <property name="decimals">
                <number>0</number>
               </property>
               <property name="minimum">
                <double>1.000000000000000</double>
               </property>
               <property name="maximum">
                <double>99.000000000000000</double>
               </property>
               <property name="value">
                <double>15.000000000000000</double>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QLabel" name="label_14">
               <property name="text">
                <string>Angle tolerance</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QSpinBox" name="spinBox_mesh_triangleSize">
               <property name="suffix">
                <string> pix</string>
               </property>
               <property name="minimum">
                <number>1</number>
               </property>
               <property name="maximum">
                <number>99</number>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_openchisel">
            <property name="title">
             <string>OpenChisel Reconstruction</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_18">
             <item>
              <widget class="QLabel" name="label_26">
               <property name="text">
                <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;a href=&quot;https://github.com/personalrobotics/OpenChisel&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/personalrobotics/OpenChisel&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;p&gt;Parameters below match those in chisel_ros package. Voxel resolution is taken from the general voxel parameter above, it should not be null. &lt;br/&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Issue: &lt;/span&gt;If voxel size or chunk size are changed after exporting/viewing one time, the app should be restarted to avoid black meshes.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
               </property>
               <property name="openExternalLinks">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
               <item row="4" column="1">
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                  <string>integration_weight</string>
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                 <property name="wordWrap">
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                  <string>near_plane_dist</string>
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                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
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               </item>
               <item row="2" column="1">
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                  <string>chunk_size_y</string>
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                 <property name="wordWrap">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item row="2" column="0">
                <widget class="QSpinBox" name="spinBox_openchisel_chunk_size_y">
                 <property name="suffix">
                  <string/>
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                 <property name="minimum">
                  <number>1</number>
                 </property>
                 <property name="maximum">
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                 <property name="value">
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                </widget>
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                <widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_constant">
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                  <string/>
                 </property>
                 <property name="decimals">
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                 </property>
                 <property name="minimum">
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                 <property name="maximum">
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                 <property name="value">
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                </widget>
               </item>
               <item row="3" column="0">
                <widget class="QSpinBox" name="spinBox_openchisel_chunk_size_z">
                 <property name="suffix">
                  <string/>
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                 <property name="minimum">
                  <number>1</number>
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                 <property name="maximum">
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                 <property name="value">
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                </widget>
               </item>
               <item row="1" column="0">
                <widget class="QSpinBox" name="spinBox_openchisel_chunk_size_x">
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                  <string/>
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                 <property name="minimum">
                  <number>1</number>
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                 <property name="maximum">
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                 <property name="value">
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                  <string>chunk_size_x</string>
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                 <property name="wordWrap">
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                  <string>truncation_scale</string>
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                <widget class="QLabel" name="label_41">
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                  <string>truncation_quadratic</string>
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                 <property name="wordWrap">
                  <bool>true</bool>
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               </item>
               <item row="9" column="1">
                <widget class="QLabel" name="label_44">
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                  <string>use_voxel_carving</string>
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                <widget class="QLabel" name="label_45">
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                 <property name="wordWrap">
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                  <string/>
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                 <property name="decimals">
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                 <property name="value">
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                <widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_quadratic">
                 <property name="suffix">
                  <string/>
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                 <property name="decimals">
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                 <property name="minimum">
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                 <property name="value">
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                <widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_scale">
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                  <string/>
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                 <property name="decimals">
                  <number>1</number>
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                 <property name="minimum">
                  <double>0.100000000000000</double>
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                 <property name="maximum">
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                 <property name="singleStep">
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                 <property name="value">
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               <item row="8" column="0">
                <widget class="QSpinBox" name="spinBox_openchisel_integration_weight">
                 <property name="suffix">
                  <string/>
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                 <property name="minimum">
                  <number>1</number>
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                 <property name="maximum">
                  <number>99</number>
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                 <property name="value">
                  <number>16</number>
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                </widget>
               </item>
               <item row="9" column="0">
                <widget class="QCheckBox" name="checkBox_openchisel_use_voxel_carving">
                 <property name="text">
                  <string/>
                 </property>
                 <property name="checked">
                  <bool>true</bool>
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                </widget>
               </item>
               <item row="10" column="0">
                <widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_carving_dist_m">
                 <property name="suffix">
                  <string> m</string>
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                 <property name="decimals">
                  <number>2</number>
                 </property>
                 <property name="minimum">
                  <double>0.010000000000000</double>
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                 <property name="maximum">
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                 <property name="singleStep">
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                 <property name="value">
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                 <property name="suffix">
                  <string> m</string>
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                <widget class="QLabel" name="label_48">
                 <property name="text">
                  <string>Simplify generated mesh by merging close vertices together. Required for some post mesh filtering approaches to work properly.</string>
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                 <property name="wordWrap">
                  <bool>true</bool>
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               <item row="0" column="0">
                <widget class="QCheckBox" name="checkBox_openchisel_mergeVertices">
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                  <string/>
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                 <property name="checked">
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             </item>
            </layout>
           </widget>
          </item>
          <item>
           <spacer name="verticalSpacer_8">
            <property name="orientation">
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            <property name="sizeHint" stdset="0">
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        </widget>
       </item>
       <item>
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           <height>0</height>
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       <item>
        <spacer name="verticalSpacer_7">
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         <property name="sizeHint" stdset="0">
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     </widget>
    </widget>
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   <item>
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     <property name="orientation">
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     <property name="sizeHint" stdset="0">
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       <width>20</width>
       <height>0</height>
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     </property>
    </spacer>
   </item>
   <item>
    <widget class="QDialogButtonBox" name="buttonBox">
     <property name="orientation">
      <enum>Qt::Horizontal</enum>
     </property>
     <property name="standardButtons">
      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save</set>
     </property>
    </widget>
   </item>
  </layout>
 </widget>
 <resources/>
 <connections>
  <connection>
   <sender>buttonBox</sender>
   <signal>accepted()</signal>
   <receiver>ExportCloudsDialog</receiver>
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   <hints>
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     <x>248</x>
     <y>254</y>
    </hint>
    <hint type="destinationlabel">
     <x>157</x>
     <y>274</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>buttonBox</sender>
   <signal>rejected()</signal>
   <receiver>ExportCloudsDialog</receiver>
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   <hints>
    <hint type="sourcelabel">
     <x>316</x>
     <y>260</y>
    </hint>
    <hint type="destinationlabel">
     <x>286</x>
     <y>274</y>
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   </hints>
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 </connections>
</ui>
