mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
ExportDialog: Added OpenChisel meshing option
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>-2703</y>
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<width>773</width>
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<height>4137</height>
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<y>-3986</y>
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<width>778</width>
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<height>4680</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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@@ -178,7 +178,7 @@
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QLabel" name="label_binaryFile_10">
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<widget class="QLabel" name="label_smoothing">
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<property name="text">
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<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
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</property>
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@@ -1325,7 +1325,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<item row="0" column="1">
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<widget class="QLabel" name="label_denseReconstruction">
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<property name="text">
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<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.</string>
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1403,6 +1403,11 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<string>Organized</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Open Chisel (TSDF)</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="4" column="0">
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@@ -2601,6 +2606,400 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_openchisel">
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<property name="title">
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<string>OpenChisel Reconstruction</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_18">
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<item>
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<widget class="QLabel" name="label_26">
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<property name="text">
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<string><html><head/><body><p><a href="https://github.com/personalrobotics/OpenChisel"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/personalrobotics/OpenChisel</span></a></p><p>Parameters below match those in chisel_ros package. Voxel resolution is taken from the general voxel parameter above, it should not be null. <br/><span style=" font-weight:600;">Issue: </span>If voxel size or chunk size are changed after exporting/viewing one time, the app should be restarted to avoid black meshes.</p></body></html></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="openExternalLinks">
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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>
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<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_36">
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<property name="text">
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<string>truncation_constant</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="QLabel" name="label_35">
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<property name="text">
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<string>chunk_size_z</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_40">
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<property name="text">
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<string>truncation_linear</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="8" column="1">
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<widget class="QLabel" name="label_43">
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<property name="text">
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<string>integration_weight</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="1">
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<widget class="QLabel" name="label_46">
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<property name="text">
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<string>near_plane_dist</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="QLabel" name="label_34">
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<property name="text">
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<string>chunk_size_y</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="0">
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<widget class="QSpinBox" name="spinBox_openchisel_chunk_size_y">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>99</number>
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</property>
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<property name="value">
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<number>16</number>
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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_openchisel_truncation_constant">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001504000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_openchisel_chunk_size_z">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>99</number>
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</property>
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<property name="value">
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<number>16</number>
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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="QSpinBox" name="spinBox_openchisel_chunk_size_x">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>99</number>
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</property>
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<property name="value">
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<number>16</number>
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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_31">
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<property name="text">
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<string>chunk_size_x</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="7" column="1">
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<widget class="QLabel" name="label_42">
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<property name="text">
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<string>truncation_scale</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="6" column="1">
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<widget class="QLabel" name="label_41">
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<property name="text">
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<string>truncation_quadratic</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="9" column="1">
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<widget class="QLabel" name="label_44">
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<property name="text">
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<string>use_voxel_carving</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="10" column="1">
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<widget class="QLabel" name="label_45">
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<property name="text">
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<string>carving_dist_m</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="1">
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<widget class="QLabel" name="label_47">
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<property name="text">
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<string>far_plane_dist</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="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_linear">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001504000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_quadratic">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>6</number>
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</property>
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<property name="minimum">
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<double>0.000001000000000</double>
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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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.001504000000000</double>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_truncation_scale">
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<property name="suffix">
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<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="minimum">
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<double>0.100000000000000</double>
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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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QSpinBox" name="spinBox_openchisel_integration_weight">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>99</number>
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</property>
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<property name="value">
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<number>16</number>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QCheckBox" name="checkBox_openchisel_use_voxel_carving">
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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="10" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_openchisel_carving_dist_m">
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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>2</number>
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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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<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>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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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="QDoubleSpinBox" name="doubleSpinBox_openchisel_near_plane_dist">
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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>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>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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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_openchisel_far_plane_dist">
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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>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>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.001000000000000</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="0" column="1">
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<widget class="QLabel" name="label_48">
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<property name="text">
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<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>
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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="QCheckBox" name="checkBox_openchisel_mergeVertices">
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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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</layout>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_8">
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<property name="orientation">
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