mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added some parameters for mesh reconstruction
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1009</width>
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<height>612</height>
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<width>892</width>
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<height>494</height>
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</rect>
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</property>
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<property name="sizePolicy">
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-271</y>
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<width>711</width>
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<height>795</height>
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<y>-215</y>
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<width>707</width>
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<height>853</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>3</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -320,6 +320,16 @@
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<enum>QFrame::Raised</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,1">
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<item row="3" column="3">
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<widget class="QLabel" name="label_108">
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<property name="text">
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<string>3D cloud decimation (1-2-4-8-...).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QLabel" name="label_154">
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<property name="text">
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@@ -506,16 +516,6 @@ High-res view</string>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QLabel" name="label_108">
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<property name="text">
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<string>3D cloud decimation (1-2-4-8-...).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
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<property name="suffix">
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@@ -720,6 +720,13 @@ High-res view</string>
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</property>
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</widget>
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</item>
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<item row="10" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
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<property name="suffix">
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@@ -779,13 +786,166 @@ High-res view</string>
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</property>
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</widget>
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</item>
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<item row="10" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
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<item row="12" column="3">
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<widget class="QLabel" name="label_168">
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<property name="text">
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<string>Meshing</string>
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="14" column="3">
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<widget class="QLabel" name="label_85">
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<property name="text">
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<string>Mesh smoothing using Moving Least Squares algorithm (MLS).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.040000000000000</double>
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</property>
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</widget>
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</item>
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<item row="12" column="2">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius_save">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.040000000000000</double>
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</property>
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</widget>
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</item>
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<item row="15" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.040000000000000</double>
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</property>
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</widget>
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</item>
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<item row="10" column="3">
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<widget class="QLabel" name="label_169">
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<property name="text">
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<string>Online meshing using Greedy Projection Triangulation (GP3).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="15" column="3">
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<widget class="QLabel" name="label_87">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<widget class="QCheckBox" name="checkBox_mls">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="11" column="3">
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<widget class="QLabel" name="label_71">
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<property name="text">
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<string>Set the number of k nearest neighbors to use for the normal estimation to create the mesh. Not used when mesh smoothing below is used.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch">
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<property name="value">
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<number>20</number>
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</property>
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</widget>
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</item>
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<item row="11" column="2">
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<widget class="QSpinBox" name="spinBox_normalKSearch_save">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="value">
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<number>20</number>
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</property>
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</widget>
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</item>
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<item row="14" column="2">
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<widget class="QCheckBox" name="checkBox_mls_save">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="15" column="2">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius_save">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.040000000000000</double>
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</property>
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</widget>
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</item>
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@@ -818,6 +978,9 @@ High-res view</string>
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<layout class="QFormLayout" name="formLayout_22">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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@@ -829,19 +992,22 @@ High-res view</string>
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<item row="0" column="1">
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<widget class="QLabel" name="label_37">
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<property name="text">
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<string>Radius (m)</string>
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<string>Radius</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_48">
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<property name="text">
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<string>Angle (degrees)</string>
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<string>Angle</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
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<property name="suffix">
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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