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https://github.com/introlab/rtabmap.git
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Export: CPU-TSDF mesh reconstruction integration
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>-1802</y>
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<y>-3080</y>
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<width>778</width>
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<height>3385</height>
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<height>3701</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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@@ -1205,7 +1205,7 @@ 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. Can be used only when dense reconstruction flavor is selected. Poisson is available when clouds are assembled.</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.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1244,7 +1244,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<item row="1" 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). Can be used when dense reconstruction flavor is selected. Can reduce a lot texturing time.</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 when organized mesh approach is not selected. Can reduce a lot texturing time.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1273,6 +1273,16 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<string>Poisson</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>CPU-TSDF</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>Organized</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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@@ -1998,6 +2008,247 @@ 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_cputsdf">
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<property name="title">
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<string>CPU-TSDF Reconstruction</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_17">
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<item>
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<widget class="QLabel" name="label_25">
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<property name="text">
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<string><html><head/><body><p><a href="https://github.com/sdmiller/cpu_tsdf"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/sdmiller/cpu_tsdf</span></a></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_17" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_size">
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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="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>9999.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>12.000000000000000</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_19">
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<property name="text">
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<string>Volume size.</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="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_resolution">
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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="minimum">
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<double>0.001000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</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>0.010000000000000</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_20">
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<property name="text">
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<string>Resolution.</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="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncPos">
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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>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>0.030000000000000</double>
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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_21">
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<property name="text">
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<string>Depth truncation positive limit. Maximum distance a voxel will be set to positive.</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="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncNeg">
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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>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>0.030000000000000</double>
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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_22">
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<property name="text">
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<string>Depth truncation negative limit. Maximum distance a voxel will be set to negative.</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="QSpinBox" name="spinBox_cputsdf_randomSplit">
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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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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_23">
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<property name="text">
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<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>
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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_cputsdf_minWeight">
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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>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.500000000000000</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="5" column="1">
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<widget class="QLabel" name="label_18">
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<property name="text">
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<string>Minimum weight of a voxel to be added in the mesh.</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="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_flattenRadius">
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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>4</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>9.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.005000000000000</double>
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</property>
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<property name="value">
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<double>0.005000000000000</double>
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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_24">
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<property name="text">
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<string>Flatten radius (0=disabled).</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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</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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<widget class="QGroupBox" name="groupBox_organized">
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<property name="title">
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@@ -2009,6 +2260,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<property name="text">
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<string>Triangle size</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="1">
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@@ -2016,6 +2270,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<property name="text">
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<string>Quad</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="0">
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@@ -2052,6 +2309,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<property name="text">
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<string>Angle tolerance</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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