RTAB-Map RTAB-Map RTAB-Map Settings Upload to Sketchfab… "Status: " "Words: " First View Library New Scan Stop Start Backface Backface Lighting Lighting Wireframe Close Visualization Export OBJ/PLY… Share to Sketchfab… Start "Nodes (WM): " "Number of points: " "Update time (ms): " "Loop closure ID: " "Free Memory (MB): " "Database (MB): " "Loop closures: " "Inliers: " "Features: " "Rehearsal (%): " "Polygons: " "Used Memory (MB): " "Hypothesis (%): " "FPS (rendering): " "Distance travelled: " "GPS (long,lat,alt,bearing,err): " "Sensors: " "Time: " pref_key_tags rtabmap 3dscan tango pref_key_rendering 2 pref_key_open_button pref_key_save_button pref_key_remove_button pref_key_reset_button pref_key_density 2 pref_key_min_depth 0 pref_key_depth 2.5 pref_key_point_size 10 pref_key_angle 20 pref_key_triangle 2 pref_key_rendering_texture_decimation 4 pref_key_blending true pref_key_background_color 0.2 pref_key_nodes_filtering false pref_key_append true pref_key_resolution false pref_key_smoothing false pref_key_depth_bleeding_error 0.0 pref_key_fisheye false pref_key_camera_driver -1 pref_key_depth_from_motion false pref_key_arcore_relocalization_acc_thr 58.8399 pref_key_update_rate 1 pref_key_max_speed 0 pref_key_time_thr 0 pref_key_mem_thr 0 pref_key_loop_thr 0.11 pref_key_sim_thr 0.3 pref_key_min_inliers 25 pref_key_opt_error 2 pref_key_features_voc 200 pref_key_features 400 pref_key_features_type 6 pref_key_optimizer 2 pref_key_optimize_end true pref_key_marker_detection -1 pref_key_marker_detection_depth_error 0.1 pref_key_keep_all_db true pref_key_raw_scan_saved false pref_key_gps_saved false pref_key_env_sensors_saved false pref_key_db_in_memory false pref_key_cloud_voxel 0.01 pref_key_texture_size 4096 pref_key_texture_count 1 pref_key_normal_k 18 pref_key_max_texture_distance 3 pref_key_min_texture_cluster_size 50 pref_key_block_render false pref_key_opt_depth 0 pref_key_opt_color_radius 0.05 pref_key_opt_clean_white true pref_key_opt_min_cluster_size 0 pref_key_gain_max_radius 0.02 pref_key_cluster_ratio 0.05 pref_key_notification_sound true Rendering Point Cloud Density Decrease density to reduce rendering time and memory. Tip: To apply a different density to current map: save the map, change density and re-open the same map to regenerate the point clouds at this density. Mesh Angle Tolerance Minimum polygon angle. Increase to force scanning perpendicular to surfaces. Mesh Triangle Size Size in pixels of the polygons created from the depth image. Texture Resolution Resolution of the texture for online rendering. This doesn\'t affect Assembling results. Min Depth Points under the minimum depth are not rendered. Max Depth Points over the maximum depth are not rendered. Point Size Size of the points when rendering only the point cloud. Blending Blend close surfaces together to get more smooth colors on overlapping surfaces. May decrease rendering frame rate. Background Color Nodes Filtering Render only the newest point cloud of a loop closure. "Maximum" "High" "Low" "Very Low" "0" "1" "2" "3" "0 m" "0.3 m" "0.5 m" "0.75 m" "1 m" "1.5 m" "2 m" "2.5 m" "3 m" "0" "0.3" "0.5" "0.75" "1" "1.5" "2" "2.5" "3" "No Limit" "5 m" "4.5 m" "4 m" "3.5 m" "3 m" "2.5 m" "2 m" "1.5 m" "1 m" "0" "5" "4.5" "4" "3.5" "3" "2.5" "2" "1.5" "1" "50" "30" "25" "15" "10" "5" "1" "60 deg" "45 deg" "35 deg" "30 deg" "25 deg" "20 deg" "15 deg" "10 deg" "5 deg" "60" "45" "35" "30" "25" "20" "15" "10" "5" "6 pix" "5 pix" "4 pix" "3 pix" "2 pix" "6" "5" "4" "3" "2" "Maximum" "High" "Low" "Very Low" "1" "2" "4" "8" "White" "0.9" "Light Gray" "0.7" "0.6" "Gray" "0.4" "0.3" "Dark Gray" "0.1" "Black" "1.0" "0.9" "0.8" "0.7" "0.6" "0.5" "0.4" "0.3" "0.2" "0.1" "0.0" Mapping… Mapping Advanced mapping parameters for fine tuning. Core Database Camera Driver AR sdk used for capturing 6DoF poses and images. A TOF camera is required to record a 3D model. Depth From Motion Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver. ARCore Re-Localization Acceleration Threshold Filter ARCore\'s re-localizations to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events. Append Mode When resuming mapping, wait for a relocalization on the current map before starting a new map. HD Mode Save HD images of the color camera if you want very detailed textures. More memory will be required. Smoothing Smooth the point clouds. Depth Bleeding Filtering Error Filter noisy depth points on the edges. Fish Eye Camera Use fish eye camera instead of the color camera. May not work on some devices. Update Rate Rate at which a new node is added to map. Maximum Motion Speed Images taken when the camera is moving too fast are ignored to avoid blurry textures. Time Limit Maximum time allowed for map updates. If time to add a new node is above this theshold, some old parts of the map are temporarly forgotten to reduce time of next updates. Memory Limit Maximum nodes kept in working memory. Loop Closure Threshold Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures. Similarity Threshold Threshold at which consecutive images are considered the same, so the corresponding node\'s weight is increased. The background turns dark blue when this happens. Min Inliers Minimum visual inliers to accept a loop closure. Max Optimization Error Reject any loop closures causing error corrections in the map higher than this factor of the link\'s variance. Max Features Extracted (Vocabulary) Extracting more features per image would result in better loop closure hypotheses but more processing time is required. Max Features Extracted (Loop Closure) Extracting more features per image would result in better loop closure transforms but more processing time is required. Feature Type BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map! Graph Optimizer Graph optimization approach. Optimization from Graph End The map\'s graph is optimized from the last node. The map is moved when a loop closure happens instead of jumping the current pose back to localized area. ArUco Marker Detection ArUco markers can be detected for localization and graph optimization. Marker Depth Error Estimation Size of markers are automatically initialized on the first marker seen. All markers should have the same size. This value is the maximum depth error to do the initialization to get accurate size of the tag. The lower it is, the more perpendicular the camera should be from the marker to do initialization, but size estimated would be more accurate. Save All Frames in Database Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop. Save Raw Scan Save raw point clouds in database. Save GPS Save GPS to database. Save Environmental Sensors Save Wifi strength, temperature, air pressure, light intensity and relative humidity to database. Database in Memory The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened. "Auto" "Google Tango NDK" "ARCore NDK" "AREngine NDK" "ARCore Java" "-1" "0" "1" "2" "3" "Max" "5 Hz" "4 Hz" "3 Hz" "2 Hz" "1 Hz" "0.5 Hz" "0" "5" "4" "3" "2" "1" "0.5" "Disabled" "10 g" "9 g" "8 g" "7 g" "6 g" "5 g" "4 g" "3 g" "2 g" "0" "98.0665" "88.25985" "78.4532" "68.64655" "58.8399" "49.03325" "39.2266" "29.41995" "19.6133" "Disabled" "2.5 cm" "5 cm" "10 cm" "15 cm" "20 cm" "25 cm" "30 cm" "0" "0.025" "0.05" "0.10" "0.15" "0.20" "0.25" "0.30" "No Limit" "High" "Medium" "Low" "Very Low" "0" "0.4" "0.3" "0.2" "0.1" "No Limit" "1500 ms" "1400 ms" "1300 ms" "1200 ms" "1100 ms" "1000 ms" "900 ms" "800 ms" "700 ms" "600 ms" "500 ms" "400 ms" "0" "1500" "1400" "1300" "1200" "1100" "1000" "900" "800" "700" "600" "500" "400" "No Limit" "500 nodes" "400 nodes" "300 nodes" "200 nodes" "100 nodes" "50 nodes" "0" "500" "400" "300" "200" "100" "50" "0.90" "0.80" "0.70" "0.60" "0.50" "0.40" "0.30" "0.20" "0.15" "0.11" "0.10" "0.90" "0.80" "0.70" "0.60" "0.50" "0.40" "0.30" "0.20" "0.15" "0.11" "0.10" "Disabled" "0.60" "0.50" "0.40" "0.30" "0.20" "0.10" "0" "0.6" "0.5" "0.4" "0.3" "0.2" "0.1" "35" "30" "25" "20" "15" "10" "35" "30" "25" "20" "15" "10" "4x" "3.5x" "3x" "2.5x" "2x" "1.5x" "1x" "0.5x" "Disabled" "4" "3.5" "3" "2.5" "2" "1.5" "1" "0.5" "0" "No Limit" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "Disabled" "0" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "-1" "No Limit" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "0" "1000" "900" "800" "700" "600" "500" "400" "300" "200" "100" "BRIEF" "FREAK" "6" "5" "GTSAM" "g2o" "TORO" "2" "1" "0" "Disabled" "4X4_50" "4X4_100" "4X4_250" "4X4_1000" "5X5_50" "5X5_100" "5X5_250" "5X5_1000" "6X6_50" "6X6_100" "6X6_250" "6X6_1000" "7X7_50" "7X7_100" "7X7_250" "7X7_1000" "ARUCO_ORIGINAL" "APRILTAG_16h5" "APRILTAG_25h9" "APRILTAG_36h10" "APRILTAG_36h11" "-1" "0" "1" "2" "3" "4" "5" "6" "7" "8" "9" "10" "11" "12" "13" "14" "15" "16" "17" "18" "19" "20" "1 cm" "2 cm" "3 cm" "4 cm" "5 cm" "6 cm" "7 cm" "8 cm" "9 cm" "10 cm" "15 cm" "20 cm" "30 cm" "40 cm" "50 cm" "100 cm" "0.01" "0.02" "0.03" "0.04" "0.05" "0.06" "0.07" "0.08" "0.09" "0.1" "0.15" "0.20" "0.30" "0.40" "0.50" "1" Assembling… Assembling Advanced parameters used when assembling the map. Voxel Size If you don\'t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh. Texture Size If the map is large, you may want to increase this to maximize the texture resolution. Maximum Output Textures Note that all textures are still merged into one for visualization, but exported in multiple files. Normal K K-nearest neighbors used for normal computation when a mesh is created. Max Texture Distance Maximum distance from a camera for polygons to be textured by this camera. Min Texture Cluster Size Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons. Block Rendering Thread While Assembling This decreases assembling time, but freezes rendering while assembling. This also clears temporary the rendered clouds/meshes from memory during assembling, this can be useful to avoid out of memory errors. "0.2 m" "0.1 m" "0.05 m" "0.02 m" "0.01 m" "0.005 m" "Disabled" "0.2" "0.1" "0.05" "0.02" "0.01" "0.005" "0" "16384x16384" "8192x8192" "4096x4096" "2048x2048" "1024x1024" "16384" "8192" "4096" "2048" "1024" "8" "7" "6" "5" "4" "3" "2" "1" "8" "7" "6" "5" "4" "3" "2" "1" "30" "24" "18" "12" "6" "No Limit" "5 m" "4.5 m" "4 m" "3.5 m" "3 m" "2.5 m" "2 m" "0" "5" "4.5" "4" "3.5" "3" "2.5" "2" "1000" "500" "200" "100" "50" "10" "Disabled" "1000" "500" "200" "100" "50" "10" "0" Optimized Voxel Size Increasing this can reduce reconstruction time at the cost of less geometry precision. Reconstruction Depth Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). \"Auto\" means that depth is chosen so that polygon size is just under 3 cm. Color Radius Radius used to transfer nearest color from the point cloud to reconstructed mesh. When assembling with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes. Clean Mesh Clean mesh from textureless or colorless reconstructed polygons. This can be used to filter polygons before texturing. Polygon Filtering "Auto" "12" "11" "10" "9" "8" "7" "6" "0" "12" "11" "10" "9" "8" "7" "6" "Nearest" "2 m" "1 m" "0.5 m" "0.2 m" "0.1 m" "0.05 m" "0.025 m" "0.02 m" "0.015 m" "0.01 m" "Disabled" "0" "2" "1" "0.5" "0.2" "0.1" "0.05" "0.025" "0.02" "0.015" "0.01" "-1" "Only biggest cluster kept" "Keep all polygons" "-1" "0" General Color Correction Radius Radius used to find pixel correspondences for Adjust Colors optimization. Noise Filtering Ratio Polygon clusters with size smaller than this ratio of the largest cluster are removed by the Noise Filtering optimization. Notification Sound After saving database or preparing data to export, a notification sound is played. "0.3 m" "0.2 m" "0.1 m" "0.05 m" "0.025 m" "0.02 m" "0.015 m" "0.01 m" "0.3" "0.2" "0.1" "0.05" "0.025" "0.02" "0.015" "0.01" "Keep Largest Only" "0.9" "0.8" "0.7" "0.6" "0.5" "0.4" "0.3" "0.2" "0.1" "0.05" "0.01" "1.0" "0.9" "0.8" "0.7" "0.6" "0.5" "0.4" "0.3" "0.2" "0.1" "0.05" "0.01" Presets Open Save Remove Restore All Default Settings SketchfabActivity Hello world! Settings