mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added GainCompensator class. GUI/3D Rendering: added texturing option.
This commit is contained in:
matlabbe
@@ -23,24 +23,14 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-860</y>
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<y>0</y>
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<width>773</width>
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<height>1463</height>
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<height>1648</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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<item>
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<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_binaryFile_2">
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<property name="text">
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<string>Assemble clouds/meshes to a single output cloud/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="3" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch">
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<property name="minimum">
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@@ -51,10 +41,17 @@
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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_binaryFile">
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_assemble">
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<property name="text">
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<string>Binary file.</string>
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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="2" column="1">
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<widget class="QLabel" name="label_binaryFile_2">
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<property name="text">
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<string>Assemble clouds/meshes to a single output cloud/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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@@ -71,23 +68,6 @@
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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="QCheckBox" name="checkBox_assemble">
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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="4" column="1">
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<widget class="QLabel" name="label_voxel">
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<property name="text">
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<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
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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_voxelSize_assembled">
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<property name="suffix">
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@@ -138,6 +118,26 @@
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</item>
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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_binaryFile">
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<property name="text">
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<string>Binary file.</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_voxel">
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<property name="text">
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<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
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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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<item>
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@@ -782,6 +782,146 @@ 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_gain">
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<property name="title">
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<string>Gain Compensation</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
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<item row="0" column="1">
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<widget class="QLabel" name="label_binaryFile_3">
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<property name="text">
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<string>Correspondence radius</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_binaryFile_5">
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<property name="text">
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<string>Beta</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="QDoubleSpinBox" name="doubleSpinBox_gainRadius">
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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>10.000000000000000</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>0.020000000000000</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_binaryFile_4">
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<property name="text">
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<string>Alpha</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_gainAlpha">
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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>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>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>0.010000000000000</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="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
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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>0</number>
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</property>
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<property name="minimum">
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<double>1.000000000000000</double>
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</property>
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<property name="maximum">
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<double>1000.000000000000000</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>100.000000000000000</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_binaryFile_6">
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<property name="text">
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<string>Min overlap (%)</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_gainOverlap">
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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>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>0.050000000000000</double>
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</property>
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</widget>
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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_meshing">
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<property name="title">
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@@ -793,34 +933,7 @@ 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="0" column="1">
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<widget class="QLabel" name="label_170">
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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.</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="QCheckBox" name="checkBox_textureMapping">
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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="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.</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="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
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<property name="decimals">
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<number>2</number>
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@@ -839,20 +952,47 @@ 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="1">
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<item row="3" 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="2" column="0">
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<item row="3" 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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</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_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. Cannot be used if texturing is on and organized mesh 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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</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_textureMapping">
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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="0" 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.</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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<item>
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