RTAB-Map RTAB-Map RTAB-Map Settings Upload to Sketchfab… "Status: " "Words: " First Third Top Pause Resume Backface Backface Lighting Lighting Close Visualization Export to File… 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): " pref_key_tags rtabmap 3dscan tango pref_key_rendering 2 pref_key_reset_button pref_key_density 1 pref_key_min_depth 0 pref_key_depth 2.5 pref_key_point_size 5 pref_key_angle 20 pref_key_triangle 2 pref_key_rendering_texture_decimation 4 pref_key_nodes_filtering false pref_key_append true pref_key_auto_exposure true pref_key_resolution false pref_key_smoothing true pref_key_fisheye false pref_key_update_rate 1 pref_key_time_thr 1000 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 0.1 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_keep_all_db true pref_key_raw_scan_saved false pref_key_db_in_memory true pref_key_cloud_voxel 0 pref_key_texture_size 4096 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 8 pref_key_opt_color_radius 0.05 pref_key_opt_clean_white true pref_key_gain_max_radius 0.02 pref_key_cluster_ratio 0.05 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 Export 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. 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" Mapping… Mapping Advanced mapping parameters for fine tuning. Core Database Append Mode When resuming mapping, wait for a relocalization on the current map before starting a new map. Auto Exposure Adjust camera exposure depending on the lighting to get always maximum contrast. This may change texture color between scanned images. Color correction option in Post-Processing can help to uniformize colors. May not work on some devices. 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. Fish Eye Camera Use fish eye camera instead of the color camera. Cannot be used on Yellowstone tablet. Update Rate Rate at which a new node is added to map. 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 threshold. 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. 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. 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. "Max" "5 Hz" "4 Hz" "3 Hz" "2 Hz" "1 Hz" "0.5 Hz" "0" "5" "4" "3" "2" "1" "0.5" "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" "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" "1.0 m" "0.5 m" "0.35 m" "0.2 m" "0.1 m" "0.05 m" "0.025 m" "0.01 m" "Disabled" "1.0" "0.5" "0.35" "0.2" "0.1" "0.05" "0.025" "0.01" "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" Exporting… Exporting Advanced parameters used when exporting 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. 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 Exporting This decreases exporting time, but freezes rendering while exporting. This also clears temporary the rendered clouds/meshes from memory during exporting, 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" "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" "Disabled" "1000" "500" "200" "100" "50" "10" "0" "1000" "500" "200" "100" "50" "10" 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. Color Radius Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting 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. "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" "0.02" "0.015" "0.01" "Disabled" "0" "2" "1" "0.5" "0.2" "0.1" "0.05" "0.025" "0.02" "0.015" "0.01" "-1" 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. "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" Restore All Default Settings SketchfabActivity Hello world! Settings