diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index 38bfc040..807b65cf 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -5183,24 +5183,24 @@ void DatabaseViewer::updateOctomapView()
 					{
 						pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 						pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
-						occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), Qt::red);
+						occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), QColor(ui_->lineEdit_obstacleColor->text()));
 						occupancyGridViewer_->setCloudPointSize("octomap_obstacles", 5);
 
 						pcl::PointCloud<pcl::PointXYZRGB>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 						pcl::copyPointCloud(*cloud, *ground, *groundCloud);
-						occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), Qt::green);
+						occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), QColor(ui_->lineEdit_groundColor->text()));
 						occupancyGridViewer_->setCloudPointSize("octomap_ground", 5);
 					}
 					else
 					{
 						pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
 						pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
-						occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), Qt::red);
+						occupancyGridViewer_->addCloud("octomap_obstacles", obstaclesCloud, Transform::getIdentity(), QColor(ui_->lineEdit_obstacleColor->text()));
 						occupancyGridViewer_->setCloudPointSize("octomap_obstacles", 5);
 
 						pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
 						pcl::copyPointCloud(*cloud, *ground, *groundCloud);
-						occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), Qt::green);
+						occupancyGridViewer_->addCloud("octomap_ground", groundCloud, Transform::getIdentity(), QColor(ui_->lineEdit_groundColor->text()));
 						occupancyGridViewer_->setCloudPointSize("octomap_ground", 5);
 					}
 
@@ -5208,7 +5208,7 @@ void DatabaseViewer::updateOctomapView()
 					{
 						pcl::PointCloud<pcl::PointXYZ>::Ptr emptyCloud(new pcl::PointCloud<pcl::PointXYZ>);
 						pcl::copyPointCloud(*cloud, *empty, *emptyCloud);
-						occupancyGridViewer_->addCloud("octomap_empty", emptyCloud, Transform::getIdentity(), Qt::white);
+						occupancyGridViewer_->addCloud("octomap_empty", emptyCloud, Transform::getIdentity(), QColor(ui_->lineEdit_emptyColor->text()));
 						occupancyGridViewer_->setCloudOpacity("octomap_empty", 0.5);
 						occupancyGridViewer_->setCloudPointSize("octomap_empty", 5);
 					}
diff --git a/tools/Reprocess/main.cpp b/tools/Reprocess/main.cpp
index 4c4131c7..3d94f388 100644
--- a/tools/Reprocess/main.cpp
+++ b/tools/Reprocess/main.cpp
@@ -222,6 +222,7 @@ int main(int argc, char * argv[])
 				printf("High variance detected, triggering a new map...\n");
 				rtabmap.triggerNewMap();
 			}
+			UTimer t;
 			if(!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity, globalMapStats))
 			{
 				printf("Failed processing node %d.\n", data.id());
@@ -230,13 +231,13 @@ int main(int argc, char * argv[])
 			else if(assemble2dMap || assemble3dMap || assemble2dOctoMap || assemble3dOctoMap)
 			{
 				globalMapStats.clear();
+				double timeRtabmap = t.ticks();
 				double timeUpdateInit = 0.0;
 				double timeUpdateGrid = 0.0;
 #ifdef RTABMAP_OCTOMAP
 				double timeUpdateOctoMap = 0.0;
 #endif
 				const rtabmap::Statistics & stats = rtabmap.getStatistics();
-				UTimer t;
 				if(stats.poses().size() && stats.getSignatures().size())
 				{
 					int id = stats.poses().rbegin()->first;
@@ -302,6 +303,7 @@ int main(int argc, char * argv[])
 				globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctoMapProjection/ms"), timePub2dOctoMap*1000.0f));
 				globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctomapToCloud/ms"), timePub3dOctoMap*1000.0f));
 #endif
+				globalMapStats.insert(std::make_pair(std::string("GlobalGrid/TotalWithRtabmap/ms"), (timeUpdateGrid+timeUpdateOctoMap+timePub2dOctoMap+timePub3dOctoMap+timeRtabmap)*1000.0f));
 			}
 		}