mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Export: added option to remove not textured/colored polygons. Cloud generation: Black pixels can be projected. Added RoiRatios options to 3D Rendering and Export. Added fill depth holes option to Export.
This commit is contained in:
matlabbe
@@ -23,9 +23,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-1525</y>
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<y>0</y>
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<width>773</width>
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<height>2568</height>
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<height>2728</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_13">
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@@ -151,25 +151,6 @@
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<layout class="QVBoxLayout" name="verticalLayout_14">
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<item>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
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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>1</number>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>4.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_108">
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<property name="text">
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@@ -180,49 +161,6 @@
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QSpinBox" name="spinBox_decimation">
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<property name="minimum">
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<number>-32</number>
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</property>
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<property name="maximum">
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<number>32</number>
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</property>
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<property name="value">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_134">
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<property name="text">
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<string>Path to a depth distortion model to apply (output from depth calibration).</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="1" column="2">
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<widget class="QLabel" name="label_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</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="2" column="2">
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<widget class="QLabel" name="label_133">
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<property name="text">
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<string>3D cloud minimum depth.</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="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
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<property name="suffix">
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@@ -242,16 +180,131 @@
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="6" column="1">
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<widget class="QLineEdit" name="lineEdit_distortionModel"/>
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</item>
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<item row="3" column="0">
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<item row="6" column="0">
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<widget class="QToolButton" name="toolButton_distortionModel">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QSpinBox" name="spinBox_fillDepthHoles">
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<property name="suffix">
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<string> pixels</string>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
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<property name="suffix">
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<string> %</string>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</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="2" column="2">
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<widget class="QLabel" name="label_133">
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<property name="text">
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<string>3D cloud minimum depth.</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="2">
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<widget class="QLabel" name="label_197">
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<property name="text">
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<string>Fill depth hole size (0 means no fill).</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
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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>1</number>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>4.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QSpinBox" name="spinBox_decimation">
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<property name="minimum">
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<number>-32</number>
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</property>
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<property name="maximum">
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<number>32</number>
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</property>
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<property name="value">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<widget class="QLabel" name="label_134">
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<property name="text">
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<string>Path to a depth distortion model to apply (output from depth calibration).</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="5" column="2">
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<widget class="QLabel" name="label_198">
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<property name="text">
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<string>Fill depth hole error.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_135">
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<property name="text">
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<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>
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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="3" column="1">
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<widget class="QLineEdit" name="lineEdit_roiRatios"/>
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</item>
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</layout>
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</item>
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<item>
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@@ -1052,43 +1105,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<layout class="QVBoxLayout" name="verticalLayout_15">
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<item>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>0.990000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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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_textureMapping">
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<property name="text">
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<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</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="1">
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<widget class="QLabel" name="label_16">
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<property name="text">
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<string>Min polygon cluster size</string>
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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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<item row="5" column="0">
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<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
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<property name="maximum">
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<number>999</number>
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@@ -1098,7 +1115,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<item row="2" column="1">
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<widget class="QLabel" name="label_meshDecimation">
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<property name="text">
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<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons).</string>
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<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 only when dense reconstruction flavor is selected.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1168,6 +1185,59 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>0.990000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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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_textureMapping">
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<property name="text">
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<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</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="5" column="1">
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<widget class="QLabel" name="label_16">
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<property name="text">
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<string>Min polygon cluster size</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_meshDecimation_3">
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<property name="text">
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<string>Clean mesh from polygons without color or texture.</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="QCheckBox" name="checkBox_cleanMesh">
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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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</layout>
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</item>
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<item>
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